Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor

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Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor

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Donat, Heiko / Gu, Jiecong / Steil, Jochen

Shape-sensing in real-time is a key requirement for the development of advanced algorithms for concentric tube continuum robots when safe interaction with the environment is important e.g., for path planning, advanced control, and human-machine interaction. We propose a real-time shape-estimation algorithm for concentric tube continuum robots based on the force-torque information measured at the tubes' basis. It extends a shape estimation algorithm for elastic rods based on discrete Kirchhoff rod theory. For simplicity and efficiency of calculation, we combine it with a model under piece-wise constant curvature assumption, in which we model a concentric tube continuum robot as a combination of segments of planar constant curvatures lying on different equilibrium planes. We evaluate our approach for a single and two combined additively manufactured tubes and achieve an estimation frequency of 333 Hz for two combined tubes with a mean deviation along the backbone of the tubes of 1.91-5.22 mm.

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Dokumentinformationen

Titel :

Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor

Beteiligte:

Donat, Heiko (Autor:in) / Gu, Jiecong (Autor:in) / Steil, Jochen (Autor:in)

Erscheinungsdatum :

2021-10-04

Anmerkungen:

Frontiers in robotics and AI 8 (2021) 734033. - doi:10.3389/frobt.2021.734033 -- Front Robot AI -- http://www.bibliothek.uni-regensburg.de/ezeit/?2781824 -- http://www.frontiersin.org/Robotics_and_AI -- https://www.ncbi.nlm.nih.gov/pmc/journals/3976/ -- 2296-9144 -- 2296-9144

DOI :

https://doi.org/10.3389/frobt.2021.734033

Medientyp :

Aufsatz (Zeitschrift)

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

Article , ddc:629.8 , ddc:004 , Veröffentlichung der TU Braunschweig , Publikationsfonds der TU Braunschweig , Real-time , Shape Sensing , Concentric Tube Continuum Robot , Shape Estimation , Discrete Kirchoff Rod