Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

Modes, Vincent; Burgner-Kahrs, Jessica

doi:10.1109/lra.2019.2946060

Cited by 10 publications

(6 citation statements)

References 22 publications

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“…Another area of future work is in the application of these approaches to redundant and continuum robots. Sensing and calibration for redundant and infinite degree of freedom robots are an active area of research [52]. We believe that IMUs could be used on these robots to calibrate parameters such as base frame parameters and material property constants, which is an exciting potential area for future work.…”

Section: Discussionmentioning

confidence: 99%

Unified robot and inertial sensor self-calibration

Ferguson

Ertop²,

Herrell³

et al. 2023

Robotica

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Robots and inertial measurement units (IMUs) are typically calibrated independently. IMUs are placed in purpose-built, expensive automated test rigs. Robot poses are typically measured using highly accurate (and thus expensive) tracking systems. In this paper, we present a quick, easy, and inexpensive new approach to calibrate both simultaneously, simply by attaching the IMU anywhere on the robot’s end-effector and moving the robot continuously through space. Our approach provides a fast and inexpensive alternative to both robot and IMU calibration, without any external measurement systems. We accomplish this using continuous-time batch estimation, providing statistically optimal solutions. Under Gaussian assumptions, we show that this becomes a nonlinear least-squares problem and analyze the structure of the associated Jacobian. Our methods are validated both numerically and experimentally and compared to standard individual robot and IMU calibration methods.

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Section: Discussionmentioning

confidence: 99%

Unified robot and inertial sensor self-calibration

Ferguson

Ertop²,

Herrell³

et al. 2023

Robotica

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“…Using standard geometric arguments, we obtain L SMA,ON ¼ ðL NF À αdÞ sinc α 2n sections (8) Comparing the maximum output angle for the ideal consideration α i discussed in Section 2.1 (see Equations ( 2), ( 5) and ( 6)) and the nonideal setup α ni (see Equation ( 8)), the deviation to the ideal constant-curvature consideration can be calculated depending on the number of spacers, and is given by substituting ( 2) and ( 6) in ( 8)…”

Section: Approximation Of the Constant Curvature Kinematicsmentioning

confidence: 99%

“…Unlike conventional robots, which achieve high position accuracy and repeatability in well-defined environments by means of rigid links and joints, [1,2] continuum robots are able to follow complex paths and adapt to unstructured environments thanks to their hyperflexible structure, which lacks rigid links and joints. Combining the improved dexterity and flexibility of continuum robots with a soft structure allows to increase safety during interactions with humans, thus opening up, ranging from medicine [3] and minimally invasive surgery [4][5][6][7][8] to nuclear reactor maintenance, [4] exploration, [5] navigation [6] as well as endoscopy. [7] Generally, continuum robots can be categorized in terms of their structure and actuation strategy.…”

Section: Introductionmentioning

confidence: 99%

“…[7] Generally, continuum robots can be categorized in terms of their structure and actuation strategy. Common structural designs include concentric-tube robots, based on multiple precurved elastic tubes nested inside each other, [8,9] as well as single backbone continuum robots, in which an elastic element structure supports the structure and acts as a restoring force, which brings back the robot to its initial state after actuation. [7,10,11] The actuation strategy can be categorized as intrinsic or extrinsic, depending on where the actuation takes place with respect to the structure.…”

Section: Introductionmentioning

confidence: 99%

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Systematic Methodology for an Optimized Design of Shape Memory Alloy‐Driven Continuum Robots

Goergen,

Rizzello,

Motzki

2023

Adv Eng Mater

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Continuum robots stand out due to their high dexterity, which allows them to effectively navigate in confined spaces and dynamic environments. At present, motor‐controlled tendons represent the most prominent actuation method used in continuum robots which require large drive units, increasing the overall system size and weight. A potential alternative technology to overcome those limitations is represented by shape memory alloy (SMA) wire actuators, which are characterized by extremely high energy density and flexibility, leading to a reduction of the size, weight, and design complexity of continuum robots. The complex thermomechanical behavior of SMA wires, however, makes the design of SMA‐based applications a challenging task, and systematic approaches to design SMA‐driven continuum robots are poorly understood. To overcome this issue, this article presents a novel systematic methodology for designing SMA‐driven continuum robots capable of motion in a three‐dimensional environment. First, the kinematic relationship between SMA wires and continuum robot deformation as well as the required actuator force in quasi‐static conditions, is mathematically described based on the assumption of a constant curvature deformation. Subsequently, the model is validated by in‐plane experiments for different design parameters. Based on the results, a fully integrated, antagonistic SMA continuum robot is built and validated.

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“…This means that they are highly flexible and can navigate in cluttered environments such as gas turbines [1], [2], nuclear facilities [3], [4], and the human body [5]. Multiple design solutions have been proposed since the 1960s, [6], [7], the majority of which belong to the following three categories: external actuation [8], [9], [10] intrinsic actuation [11], [12], and concentric tubes [13], [14], [15]. CRs with intrinsic actuation have actuators embedded in the snake body structure, resulting in heavy and bulky designs with higher payloads but with a reduced inner lumen for the delivery of tools to the tip.…”

Section: Introductionmentioning

confidence: 99%

A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches

Bishop

Russo

Dong

et al. 2022

IEEE/ASME Trans. Mechatron.

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The many degrees of freedom of continuum robots (CRs) enable unique applications in the search and rescue, medical and aerospace industries. However, the many motors required result in unwieldy external actuation packs and additional weight. Underactuation can achieve any pose with four motors by locking sections through clutching of cables. Existing underactuated solutions are characterized by lengthy joint locking times, add significant weight and are not scalable. In this work, a novel design and motion strategy is introduced, with shape memory alloy (SMA) wires to control clutches that lock cables for section locking. In addition to using conventional smooth cables, beaded cables are proposed for improved clutching strength. The workspace of the design is analyzed, and design tools are proposed to optimize bead pitch. Finally, the operation of the proposed underactuated CR is demonstrated on a prototype that achieves a mean repeatability of 1.41mm, equivalent to 0.43% of the backbone length. Section locking is achieved in 1 second and section unlocking is achieved in 5 seconds.

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Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

Cited by 10 publications

References 22 publications

Unified robot and inertial sensor self-calibration

Unified robot and inertial sensor self-calibration

Systematic Methodology for an Optimized Design of Shape Memory Alloy‐Driven Continuum Robots

A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches

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