Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings - ICRA 2023 |
| Subtitle of host publication | IEEE International Conference on Robotics and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 9651-9657 |
| Number of pages | 7 |
| ISBN (electronic) | 9798350323658 |
| ISBN (print) | 979-8-3503-2366-5 |
| Publication status | Published - 2023 |
| Event | 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom (UK) Duration: 29 May 2023 → 2 Jun 2023 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Volume | 2023-May |
| ISSN (Print) | 1050-4729 |
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.
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
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Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. p. 9651-9657 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
AU - Habich, Tim Lukas
AU - Hueter, Melvin
AU - Schappler, Moritz
AU - Spindeldreier, Svenja
N1 - Funding Information: ACKNOWLEDGMENT The authors acknowledge the support of this project by the German Research Foundation (Deutsche Forschungsge-meinschaft) under grant number 433586601.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85168698167&partnerID=8YFLogxK
U2 - 10.48550/arXiv.2303.00065
DO - 10.48550/arXiv.2303.00065
M3 - Conference contribution
AN - SCOPUS:85168698167
SN - 979-8-3503-2366-5
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9651
EP - 9657
BT - Proceedings - ICRA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Y2 - 29 May 2023 through 2 June 2023
ER -