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Fault-Tolerant Six-DoF Pose Estimation for Tendon-Driven Continuum Mechanisms

Antonin Raffin, Bastian Deutschmann, Freek Stulp
2021 Frontiers in Robotics and AI  
We propose a fault-tolerant estimation technique for the six-DoF pose of a tendon-driven continuum mechanisms using machine learning.  ...  In contrast to previous estimation techniques, no deformation model is required, and the pose prediction is rather performed with polynomial regression.  ...  The specific contributions, which also define the structure of the paper, are: • A data-driven approach for real time six-DoF pose of tendon-driven continuum mechanism using few data points.  ... 
doi:10.3389/frobt.2021.619238 pmid:33996921 pmcid:PMC8120429 fatcat:65dfpydxwjcktbxojgtpelbumq

Snake Robots for Surgical Applications: A Review

Jenna Seetohul, Mahmood Shafiee
2022 Robotics  
This paper aims to conduct a review of planning and operation concepts of hyper-redundant serpentine robots for surgical use, as well as any future challenges and solutions for better manipulation.  ...  Current researchers in the field of the manufacture and navigation of snake robots have faced issues, such as a low dexterity of the end-effectors around delicate organs, state estimation and the lack  ...  for navigation and pose estimation.  ... 
doi:10.3390/robotics11030057 fatcat:vgpup2mp2vg65ikna66z4vzzsa

2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25

2020 IEEE/ASME transactions on mechatronics  
., Framework for Static and Dynamic Friction Identification for Industrial Manipulators; TMECH June 2020 1589-1599 Inyang-Udoh, U., Guo, Y., Peters, J., Oomen, T., and Mishra, S., Layer-to-Layer Predictive  ...  Control of Inkjet 3-D Printing; TMECH Aug. 2020 1783-1793 Iordachita, I., see He, C., TMECH Dec. 2020 2846-2857 Iqbal, A., Gao, Y., and Gu, Y., Provably Stabilizing Controllers for Quadrupedal Robot  ...  Pose, C.D., +, TMECH Aug. 2020 1851-1858 Fault-Tolerant Control of Multirotor UAVs by Control Variable Elimination.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA July 2019 2479-2484 Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model.  ...  Khan, M.A., +, LRA Oct. 2019 3735-3741 Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA July 2020 4891-4898 A Novel Flexible Robotic Endoscope With Constrained Tendon-Driven Continuum Mechanism.  ...  Liu, Z., +, LRA April 2020 3291-3298 A Novel Flexible Robotic Endoscope With Constrained Tendon-Driven Continuum Mechanism.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

Mindaugas Matukaitis, Renaldas Urniezius, Deividas Masaitis, Lukas Zlatkus, Benas Kemesis, Gintaras Dervinis
2021 Applied Sciences  
Finally, this text presents rotational expressions and their outlines for controlling the manipulator's tendons.  ...  The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks.  ...  To improve the D-H method, researchers propose adaptive fuzzy-based fault-tolerant control, as in [6] .  ... 
doi:10.3390/app11072946 fatcat:7uzyezzeivcjthiacd7sx6bctu

The i²Snake robot for endoscopic surgery

Pierre Tom Remy Raoul Berthet-Rayne, Guang-Zhong Yang
2021
The robot also uses a novel tendon routing to minimize cross-talk between joints and to allow formation of complex configurations such as S-shapes.  ...  This is followed by a chapter on the mechanical design of the i²Snake. The design proposes an optimized rolling-joint to improve stability and joint range.  ...  Acknowledgements ACKNOWLEDGMENT The author would like to thank Graham Brooks, Shen Treratanakulchai and the members of the Imperial College Hackspace (ICAH), for their support in the fabrication of the  ... 
doi:10.25560/89684 fatcat:se7e3f5q6jfnjlf2qj4pc2wggm

A Snake-Like Articulated Robot for Flexible Access Minimally Invasive Surgery - Modelling, Optimisation and Kinematic Control

Valentina Vitiello, Guang-Zhong Yang, Dan Elson
2012
A DoF minimisa [...]  ...  The integration of an extra translational DoF along the joint axis allows the performance of a hybrid 'inchworm-snake' locomotive scheme for self-propulsion of the device.  ...  They usually feature a high number of DoFs and a modular structure, which result in increased fault tolerance and flexibility.  ... 
doi:10.25560/9463 fatcat:rcxk5mn7f5bbxkowcl642ebsfa

Conceptual design and multidisciplinary optimization of in-plane morphing wing structures

Daisaku Inoyama, Brian P. Sanders, James J. Joo, Douglas K. Lindner
2006 Smart Structures and Materials 2006: Modeling, Signal Processing, and Control  
Snap-through buckling is a step further in the direction of using non-linear mechanics for actuator design.  ...  The issue of non-linear structures that amplify the actuation provided from piezoelectric elements has been shown for aeronautical applications in [1]; in this work, the potential of non-linear mechanics  ...  Parallel platform mechanisms are ideal candidates for 6 DOF positioning and vibration isolation.  ... 
doi:10.1117/12.658686 fatcat:rqnvt2atkjgnvpog5pivwjejzm

Basic Design of a Flange Connected Transition Piece between Offshore Wind Turbine and Monopile Foundation
해상풍력 터빈과 모노파일 하부기초를 연결하는 플랜지 방식 트랜지션 피스의 기본설계

KANGHEE LEE, SUNGGYU PARK, GEONHO KIM, TAEGYU HWANG
2020 Transactions of the Korean hydrogen and new energy society  
For homogeneous soil conditions, modelling of the soil using the continuum approach may be used.  ...  For driven piles, this may be achieved by a driveability study or an equivalent analysis.  ...  For further details, reference is made to DNVGL-ST-0359 and DNVGL-RP-0360.  ... 
doi:10.7316/khnes.2020.31.1.160 fatcat:lclwtlsamvefznubkb256rilka

High performance optical force sensing - design, characterization and integration in robotic minimally invasive surgery

Amir Hossein Hadi Hosseinabadi
2021
transmission of six-axis transducer data to a host computer.  ...  The mechanical design, electronics hardware, and firmware and software architectures of a novel 6-axis optical force sensor are discussed.  ...  Figure 5 . 5 10 shows the data-driven calibration results in all the DoFs, except the axial force, for the validation (0 -93 s) and test (93 -186 s) sets.  ... 
doi:10.14288/1.0401368 fatcat:n45wlm3mrzcf3pmwa76kmxfza4

Acoustics of ancient Greek and Roman theaters in use today

Anders Christian Gade, Konstantinos Angelakis
2006 Journal of the Acoustical Society of America  
A hypothesis on the mechanism behind this will also be discussed. 11:00 3aBB9. Exposure estimation and dosimetry for ultrasound thermal therapies.  ...  This means that the location of faults can be found by using acoustic signal.  ...  The signals have been bandpass filtered at 16 Hz and found to contain up to six echoes. The causative scattering seafloor features were estimated from the travel times.  ... 
doi:10.1121/1.4787803 fatcat:3lczeegofreblpjmfixt7gdxv4

Motion planning by genetic algorithm for a redundant manipulator using an evaluation function based on criteria of skilled operators

T. Shibata, T. Abe, K. Tanie, M. Nose
Proceedings of 1995 IEEE International Conference on Robotics and Automation  
Based on this distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots.A Normalization Based Image Affine Estimation Techniques forComputer  ...  precision docking demonstration. 11:00-11:18 Fuzzy Control of a New Tendon-Driven Exoskeletal Power Assistive Device K.  ... 
doi:10.1109/robot.1995.525631 dblp:conf/icra/ShibataATN95 fatcat:vzk3brbh3rh7xaln5vowvqxnue

Adherence to acute hand therapy treatment – application of a multi-dimensional model

O'Brien, Elizabeth (Lisa) Jane
2017
All provide support for this thesis' contention t [...]  ...  The literature shows that patient adherence to hand therapy treatment in acute conditions (defined as less than three months post injury) results in superior recovery and prevention of deformities in tendon  ...  An early study of six patients post tendon surgery using a splint with a built-in exercise counter 61 could only report the results for four participants, as one refused to be re-tested and the equipment  ... 
doi:10.4225/03/58900f841e382 fatcat:xwygl4feufcxhdspkv5hqsl7x4

Designing for unsupervised construction : an investigation of the affordances of on-site autonomy [article]

Nathan Melenbrink, Universität Stuttgart
2021
Among these overlooked areas are (1) the need for embedded sensing in construction materials, and for co-designing robot hardware in coordination with novel construction robots, and (2) the need for an  ...  This thesis will present an argument for small-scale distributed robotics for construction automation, and will demonstrate that this approach can utilize practical materials to build useful structures  ...  ACKNOWLEDGEMENTS We would like to thank Stan Cotreau, Steve Sansone and Tom Blough for assistance with fabrication.  ... 
doi:10.18419/opus-11449 fatcat:4l7lwvvg4jffxaypmmgpqrvrta
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