Title :

PH Model-based Shape Reconstruction of Heterogeneous Continuum Closed Loop Kinematic Chain: An Application to skipping Rope

Author(s) :

Singh, Inderjeet [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Amara, Yacine [Auteur]
École nationale polytechnique [Alger, Algérie] [ENP]
Lakhal, Othman [Auteur]
LAGIS-MOCIS
Melingui, Achille [Auteur]
Merzouki, Rochdi [Auteur]
LAGIS-MOCIS

Conference title :

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

City :

Madrid

Country :

Espagne

Start date of the conference :

2018-10-01

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique
Informatique [cs]/Automatique
Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

Soft robotics is a swiftly growing research area these days. Modeling continuum robots accurately is still a demanding field. The paper aims to propose a shape reconstruction method and the estimation of the kinematic ...
Show more >Soft robotics is a swiftly growing research area these days. Modeling continuum robots accurately is still a demanding field. The paper aims to propose a shape reconstruction method and the estimation of the kinematic behavior of heterogeneous continuum robot in closed loop kinematic configuration, by using Pythagorean Hodograph (PH) curves. The validation of the model approach has been tested on cooperative continuum robots, namely Compact Bionic Handling Arms (CBHA), driving an intermediate flexible rope (a passive flexible link), by using a 3D tracking system. Experimental comparison of the proposed approach with the existing approaches is performed in terms of accuracy as well as the time cost.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL