Computing Pressure-Deformation Maps for Braided Continuum Robots.
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ABSTRACT:
SUBMITTER: Navarro-Alarcon D
PROVIDER: S-EPMC7805695 | biostudies-literature | 2019
REPOSITORIES: biostudies-literature
Publications
Computing Pressure-Deformation Maps for Braided Continuum Robots.
Navarro-Alarcon David D Zahra Omar O Trejo Christian C Olguín-Díaz Ernesto E Parra-Vega Vicente V
Frontiers in robotics and AI 20190205
This paper presents a method for computing sensorimotor maps of braided continuum robots driven by pneumatic actuators. The method automatically creates a lattice-like representation of the sensorimotor map that preserves the topology of the input space by arranging its nodes into clusters of related data. Deformation trajectories can be simply represented with adjacent nodes whose values smoothly change along the lattice curve; this facilitates the computation of controls and the prediction of ...[more]
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