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    Moradi Dalvand, Mohsen Nahavandi, Saeid and Howe, Robert D 2016. Fast vision-based catheter 3D reconstruction. Physics in Medicine and Biology, Vol. 61, Issue. 14, p. 5128.

    Borgstadt, Justin A. Zinn, Michael R. and Ferrier, Nicola J. 2015. 2015 IEEE International Conference on Robotics and Automation (ICRA). p. 5350.

    Ivanescu, Mircea Popescu, Decebal and Popescu, Nirvana 2015. A decoupled sliding mode control for a continuum arm. Advanced Robotics, Vol. 29, Issue. 13, p. 831.

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    Vandini, Alessandro Salerno, Antonino Payne, Christopher J. and Yang, Guang-Zhong 2014. 2014 IEEE International Conference on Robotics and Automation (ICRA). p. 6205.

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    Croom, Jordan M Rucker, D Caleb Romano, Joseph M and Webster, Robert J 2010. 2010 IEEE International Conference on Robotics and Automation. p. 4591.

    Camarillo, D.B. Carlson, C.R. and Salisbury, J.K. 2009. Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive. IEEE Transactions on Robotics, Vol. 25, Issue. 4, p. 798.

    Georgilas, Ioannis P. and Tourassis, Vassilios D. 2009. 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. p. 1504.

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    Chitrakaran, V. K. Behal, A. Dawson, D. M. and Walker, I. D. 2007. Setpoint regulation of continuum robots using a fixed camera. Robotica, Vol. 25, Issue. 05,


Real-time shape estimation for continuum robots using vision

  • M. W. Hannan (a1) and I.D. Walker (a2) (a3)
  • DOI:
  • Published online: 01 August 2005

This paper describes external camera-based shape estimation for continuum robots. Continuum robots have a continuous backbone made of sections which bend to produce changes of configuration. A major difficulty with continuum robots is the determination of the robot's shape, as there are no discrete joints. This paper presents a method for shape determination based on machine vision. Using an engineered environment and image processing from a high speed camera, shape determination of a continuum robot is achieved. Experimental results showing the effectiveness of the technique on our Elephant's Trunk Manipulator are presented.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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