Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
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| Title: | Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics |
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| Authors: | Habich, Tim-Lukas, Hueter, Melvin, Schappler, Moritz, Spindeldreier, Svenja |
| Source: | 2023 IEEE International Conference on Robotics and Automation (ICRA). :9651-9657 |
| Publication Status: | Preprint |
| Publisher Information: | IEEE, 2023. |
| Publication Year: | 2023 |
| Subject Terms: | FOS: Computer and information sciences, 0209 industrial biotechnology, Kinematics, Dewey Decimal Classification::600 | Technik::620 | Ingenieurwissenschaften und Maschinenbau, Shape, Target tracking, 02 engineering and technology, Null space, Computer Science - Robotics, Input devices, Fitting, Snake robots, Robotics (cs.RO), Konferenzschrift |
| Description: | Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees of freedom. Our work addresses this by presenting a unified telemanipulation strategy which enables follow-the-leader locomotion and reorientation keeping the shape change as small as possible. The basis for this is a novel shape-fitting approach for solving the inverse kinematics in only a few milliseconds. Shape fitting is performed by maximizing the similarity of two curves using Fréchet distance while simultaneously specifying the position and orientation of the end effector. Telemanipulation performance is investigated in a study in which 14 participants controlled a simulated snake robot to locomote into the target area. In a final validation, pivot reorientation within the target area is addressed. Accepted for publication at IEEE International Conference on Robotics and Automation (ICRA) 2023 |
| Document Type: | Article Part of book or chapter of book |
| DOI: | 10.1109/icra48891.2023.10161124 |
| DOI: | 10.48550/arxiv.2303.00065 |
| DOI: | 10.15488/15180 |
| Access URL: | http://arxiv.org/abs/2303.00065 |
| Rights: | STM Policy #29 arXiv Non-Exclusive Distribution |
| Accession Number: | edsair.doi.dedup.....94e909cf96613d2a8560e4e07f1d3343 |
| Database: | OpenAIRE |
Nájsť tento článok vo Web of Science | Abstract: | Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees of freedom. Our work addresses this by presenting a unified telemanipulation strategy which enables follow-the-leader locomotion and reorientation keeping the shape change as small as possible. The basis for this is a novel shape-fitting approach for solving the inverse kinematics in only a few milliseconds. Shape fitting is performed by maximizing the similarity of two curves using Fréchet distance while simultaneously specifying the position and orientation of the end effector. Telemanipulation performance is investigated in a study in which 14 participants controlled a simulated snake robot to locomote into the target area. In a final validation, pivot reorientation within the target area is addressed.<br />Accepted for publication at IEEE International Conference on Robotics and Automation (ICRA) 2023 |
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| DOI: | 10.1109/icra48891.2023.10161124 |