Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
High-Power Propulsion Strategies for Aquatic Take-off in Robotics Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots

verfasst von : Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III

Erschienen in: Robotics Research

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

Designing a continuum robot’s geometry, sensing its shape/state in space, and planning collision-free trajectories that meet the needs of an application were initially thought of as decoupled problems for continuum robots. However, a body of literature is beginning to emerge showing advantages in solving various combinations of two of these three problems simultaneously. In this paper we argue that all three of these problems are fundamentally connected for continuum robots, that the connection can be analyzed using statistical state estimation, and that considering the three problems simultaneously can lead to better overall solutions. We provide examples for concentric-tube continuum robots.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Vorheriges Kapitel Automated Fabrication of Foldable Robots Using Thick Materials
Nächstes Kapitel Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming
Literatur
1.
Ayvali, E., Liang, C.-P., Mingyen, H., Chen, Y., Desai, J.P.: Towards a discretely actuated steerable cannula for diagnostic and therapeutic procedures. Int. J. Rob. Res. 31(5), 588–603 (2012)CrossRef
2.
Baykal, C., Torres, L.G., Alterovitz, R.: Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4381–4387 (2015)
3.
Bergeles, C., Dupont, P.E.: Planning stable paths for concentric tube robots. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3077–3082 (2013)
4.
Bergeles, C., Gosline, A.H., Vasilyev, N.V., Codd, P.J., del Nido, P.J., Dupont, P.E.: Concentric tube robot design and optimization based on task and anatomical constraints. IEEE Trans. Robot. 31(1), 67–84 (2015)CrossRef
5.
Borum, A., Matthews, D., Bretl, T.: State estimation and tracking of deforming planar elastic rods. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 4127–4132 (2014)
6.
Bry, A., Roy, N.: Rapidly-exploring random belief trees for motion planning under uncertainty. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 723–730 (2011)
7.
Bryson, C.E., Rucker, D.C.: Toward parallel continuum manipulators. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 778–785 (2014)
8.
Burgner, J., Gilbert, H.B., Webster III, R.J.: On the computational design of concentric tube robots: incorporating volume-based objectives. In: Proceedings - IEEE International Conference on Robotics and Automation, pp. 1193–1198 (2013)
9.
Burgner-Kahrs, J., Rucker, D.C., Choset, H.: Continuum robots for medical applications: a survey. IEEE Trans. Robot., (2015, in press)
10.
Crassidis, J.L., Junkins, J.L.: Optimal Estimation of Dynamic Systems, 2nd edn. CRC Press, Boca Raton (2011)
11.
Du, Toit, Noel, E., Burdick, J.W.: Robot motion planning in dynamic, uncertain environments. IEEE Trans. Robot. 28(1), 101–115 (2012)
12.
Dupont, P.E., Lock, J., Itkowitz, B., Butler, E.: Design and control of concentric-tube robots. IEEE Trans. Robot. 26(2), 209–225 (2010)CrossRef
13.
Gilbert, H.B., Rucker, D.C., Webster III, R.J.: Concentric tube robots: state of the art and future directions. Proc. Int. Symp. Robot. Res., (2013, in press)
14.
Gilbert, H.B., Hendrick, R.J., Webster, III., R.J.: Elastic Stability of Concentric Tube Robots. IEEE Trans. Rob. (2015)
15.
Hannan, M.W., Walker, I.D.: Real-time shape estimation for continuum robots using vision. Robotica 23(5), 645–651 (2005)CrossRef
16.
Hirose, S.: Biologically Inspired Robots, Snake-Like Locomotors and Manipulators. Oxford University Press, Oxcord (1993)
17.
Jeon, J., Yi, B.-J.: Shape prediction algorithm for flexible endoscope. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 2856–2861 (2014)
18.
Jones, B.A., Walker, I.D.: Kinematics for multisection continuum robots. IEEE Trans. Robot. 22(1), 43–55 (2006)CrossRef
19.
Koolwal, A.B., Barbagli, F., Carlson, C., Liang, D.: An ultrasound-based localization algorithm for catheter ablation guidance in the left atrium. Int. J. Rob. Res. 29(6), 643–665 (2010)CrossRef
20.
Lee, A., Duan, Y., Patil, S., Schulman, J., McCarthy, Z., van den Berg, J., Goldberg, K., Abbeel, P.: Sigma hulls for gaussian belief space planning for imprecise articulated robots amid obstacles. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5660–5667 (2013)
21.
Lobaton, E.J., Fu, J., Torres, L.G., Alterovitz, R.: Continuous shape estimation of continuum robots using X-ray images. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 725–732 (2013)
22.
Lyons, L.A., Webster III, R.J., Alterovitz, R.: Motion planning for active cannulas. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and System, pp. 801–806 (2009)
23.
Novotny, P.M., Stoll, J.A., Dupont, P.E., Howe, R.D.: Real-time visual servoing of a robot using three-dimensional ultrasound. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 2655–2660 (2007)
24.
Odhner, L.U., Jentoft, L.P., Claffee, M.R., Corson, N., Tenzer, Y., Ma, R.R., Buehler, M., Kohout, R., Howe, R.D., Dollar, A.M.: A compliant, underactuated hand for robust manipulation. Int. J. Rob. Res. 33(5), 736–752 (2014)CrossRef
25.
Patil, S., van den Berg, J., Alterovitz, R.: Motion planning under uncertainty in highly deformable environments. In: Proceedings of Robotics: Science and Systems (2011)
26.
Patil, S., van den Berg, J., Alterovitz, R.: Estimating probability of collision for safe motion planning under gaussian motion and sensing uncertainty. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 3238–3244 (2012)
27.
Platt Jr., R., Tedrake, R., Kaelbling, L., Lozano-Perez, T.: Belief space planning assuming maximum likelihood observations. In: Proceedings of Robotics: Science and Systems (2010)
28.
Prentice, S., Roy, N.: The belief roadmap: efficient planning in belief space by factoring the covariance. Int. J. Rob. Res. 28(11), 1448–1465 (2009)CrossRef
29.
Roesthuis, R.J., Kemp, M., van den Dobbelsteen, J.J., Misra, S.: Three-dimensional needle shape reconstruction using an array of fiber bragg grating sensors. IEEE/ASME Trans. Mech. 19(4), 1115–1126 (2014)CrossRef
30.
Rucker, D.C., Webster, R.J.: Statics and dynamics of continuum robots with general tendon routing and external loading. IEEE Trans. Robot. 27(6), 1033–1044 (2011)CrossRef
31.
Rucker, D.C., Jones, B.A., Webster III, R.J.: A geometrically exact model for externally loaded concentric-tube continuum robots. IEEE Trans. Robot. 26(5), 769–780 (2010)CrossRef
32.
Ryu, S.C., Dupont, P.E.: FBG-based shape sensing tubes for continuum robots. In: Proceedings IEEE International Conference on Robotics and Automation, pp. 3531–3537 (2014)
33.
Ryu, S.C., Quek, Z.F., Koh, J.-S., Renaud, P., Black, R.J., Moslehi, B., Daniel, B.L., Cho, K.-J., Cutkosky, M.R.: Design of an optically controlled mr-compatible active needle. IEEE Trans. Robot. 31(1), 1–11 (2015)CrossRef
34.
Simon, D.: Optimal State Estimation: Kalman, H\(_{\infty }\), and Nonlinear Approaches. Wiley, New Jersey (2006)CrossRef
35.
Sun, W., Alterovitz, R.: Motion planning under uncertainty for medical needle steering using optimization in belief space. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1775–1781 (2014)
36.
Sun, W., Torres, L.G., van den Berg, J., Alterovitz, R.: Safe motion planning for imprecise robotic manipulators by minimizing probability of collision. In: Proceedings of International Symposium Robotics Research (2013)
37.
Swaney, P.J., Burgner, J., Pheiffer, T.S., Rucker, D.C., Gilbert, H.B., Ondrake, J.E., Simpson, A.L., Burdette, E.Clif, Miga, M.I., Webster III, R.J.: Tracked 3D ultrasound targeting with an active cannula. In: Proceedings of the Society of Photo-Optical Instrumentation Engineers, pp. 83160R–83160R–9 (2012)
38.
Thrun, S., Burgard, W., Fox, D.: Prob. Robot. MIT Press, Cambridge (2006)
39.
Torres, L.G., Alterovitz, R.: Motion planning for concentric tube robots using mechanics-based models. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5153–5159 (2011)
40.
Torres, L.G., Webster III, R.J., Alterovitz, R.: Task-oriented design of concentric tube robots using mechanics-based models. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4449–4455 (2012)
41.
Torres, L.G., Baykal, C., Alterovitz, R.: Interactive-rate motion planning for concentric tube robots. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 1915–1921 (2014)
42.
Torres, L.G., Kuntz, A., Gilbert, H.B., Swaney, P.J., Hendrick, R.J., Webster III, R.J., Alterovitz, R.: A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2361–2367 (2015)
43.
Trovato, K., Popovic, A.: Collision-free 6D non-holonomic planning for nested cannulas. In: Proceedings of SPIE Medical Imaging, vol. 7261 (2009)
44.
van den Berg, J., Patil, S., Alterovitz, R., Abbeel, P., Goldberg, K.: LQG-based planning, sensing, and control of steerable needles. In: Hsu, D. et al. (eds), Algorithmic Foundations of Robotics IX. Springer Tracts in Advanced Robotics, vol. 68, pp. 373–389. Springer, Heidelberg (2010)
45.
van den Berg, J., Abbeel, P., Goldberg, K.: LQG-MP: optimized path planning for robots with motion uncertainty and imperfect state information. Int. J. Rob. Res. 30(7), 895–913 (2011)CrossRef
46.
van den Berg, J., Patil, S., Alterovitz, R.: Motion planning under uncertainty using iterative local optimization in belief space. Int. J. Rob. Res. 31(11), 1263–1278 (2012)CrossRef
47.
Webster III, R.J., Jones, B.A.: Design and kinematic modeling of constant curvature continuum robots: a review. Int. J. Rob. Res. 29(13), 1661–1683 (2010)CrossRef
48.
Xu, K., Simaan, N.: Analytic formulation for kinematics, statics, and shape restoration of multibackbone continuum robots via elliptic integrals. ASME J. Mech. Robot. 2(1), 011006 (2009)CrossRef
49.
Xu, R., Patel, R.V.: A fast torsionally compliant kinematic model of concentric-tube robots. In: Proceedings of International Conference IEEE Engineering in Medicine and Biology Society, pp. 904–907 (2012)
50.
York, P., Swaney, P.J., Gilbert, H.B, Webster III, R.J.: A wrist for needle-sized surgical robots. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 1776–1781 (2015)
Metadaten
Titel
Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots
verfasst von
Arthur W. Mahoney
Trevor L. Bruns
Ron Alterovitz
Robert J. Webster III
Copyright-Jahr
2018
Buch
Robotics Research

Print ISBN: 978-3-319-51531-1

Electronic ISBN: 978-3-319-51532-8

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-51532-8_17

Neuer Inhalt

    Bildnachweise