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Real-Time Shape Estimation for Concentric Tube Continuum Robots with a Single Force/Torque Sensor
Heiko Donat1, Jiecong Gu1, Jochen J Steil1
1Institute for Robotics and Process Control, TU Braunschweig, Braunschweig, Germany.
Frontiers in Robotics and AI
|October 21, 2021
Summary
This study presents a real-time shape-estimation algorithm for continuum robots using force-torque data. The method enables safer robot navigation and interaction by accurately sensing robot shape.
Area of Science:
- Robotics
- Mechanical Engineering
- Control Systems
Background:
- Real-time shape-sensing is crucial for advanced algorithms in continuum robots.
- Safe environmental interaction, path planning, and control necessitate accurate shape estimation.
Purpose of the Study:
- To develop a real-time shape-estimation algorithm for concentric tube continuum robots.
- To leverage force-torque information for enhanced shape sensing capabilities.
Main Methods:
- Extends elastic rod shape estimation using discrete Kirchhoff rod theory.
- Combines with a piecewise constant curvature model for computational efficiency.
- Models robots as segments of planar constant curvatures on equilibrium planes.
Main Results:
- Achieved a high estimation frequency of 333 Hz for two combined tubes.
- Demonstrated mean deviations along the tube backbone between 1.91-5.22 mm.
- Validated the approach on single and two additively manufactured tubes.
Conclusions:
- The proposed algorithm provides efficient and accurate real-time shape sensing for continuum robots.
- This method supports the development of safer and more advanced robotic applications.
- Force-torque data is a viable input for real-time shape estimation in continuum robotics.
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