Predicting kinematic configuration from string length for a snake-like manipulator not exhibiting constant curvature bending

Ryan J. Murphy, Yoshito Otake, Russell H. Taylor, M. Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We have recently developed a snake-like manipulator for use in orthopaedic environments. One example application is the treatment of osteolysis (bone degradation) due to total hip arthroplasty. Recent literature suggest constant curvature models to define manipulator configuration from string (or actuator cable) length; however, our manipulator does not conform to constant curvature bending. In this paper, we present a two-step model to predict the kinematic configuration directly from string length with no assumptions regarding constant curvature bending. We experimentally identify the model parameters and validate the model on an additional experimental data set. The results indicate our model achieved an average maximum error of 1.0 ± 0.90mm in predicting manipulator configuration compared to the ground truth over the test data set.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3515-3521
Number of pages7
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

Keywords

  • Kinematics
  • Medical Robots and Systems
  • Underactuated Robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Murphy, R. J., Otake, Y., Taylor, R. H., & Armand, M. (2014). Predicting kinematic configuration from string length for a snake-like manipulator not exhibiting constant curvature bending. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3515-3521). [6943053] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943053