Eye-in-Hand Visual Servoing of Concentric Tube Robots

Kudryavtsev, Andrey V.; Chikhaoui, Mohamed Taha; Liadov, Aleksandr; Rougeot, Patrick; Spindler, Fabien; Rabenorosoa, Kanty; Burgner-Kahrs, Jessica; Tamadazte, Brahim; Andreff, Nicolas

doi:10.1109/lra.2018.2807592

Cited by 49 publications

(21 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The Jacobian was then used to control the position of the CTR. Kudryavtsev et al [11] developed a CTR with an embedded camera at the robot's tip. They used the linear approximation of the CTR Jacobian and visual feedback for real-time steering.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we design a novel controller for steering of CTR's end-effector. Unlike current CTR controllers [9], [11] that employ the local robot Jacobian, the Model Predictive Controller (MPC) uses future predictions of robot behaviour to handle explicit constraints on the robot state and control inputs, therefore being able to steer the robot away from unstable configurations commonly known as "snapping" points. Snapping is a mechanical instability in CTRs caused by the release of the elastic potential energy that is accumulated due to tube bending and twisting [1].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

et al. 2020

View full text Add to dashboard Cite

This paper presents a Model Predictive Controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs). State-of-the-art CTR control relies on differential kinematics developed by local linearization of the CTR's mechanics model and cannot explicitly handle constraints on robot's joint limits or unstable configurations commonly known as snapping points. The proposed nonlinear MPC explicitly considers constraints on the robot configuration space (i.e. joint limits) and the robot's workspace (i.e. mixed boundary conditions on robot curvature). Additionally, the MPC calculates control decisions by optimizing the model-based predictions of future robot configurations. This way, it avoids configurations it cannot recover from, joint limits, singular configurations and snapping. The proposed controller is evaluated via simulations and experimental studies with a variety of trajectories of increasing complexity. Simulation results demonstrate the capability of MPC to avoid singularities while satisfying robot mechanical constraints. Experimental results demonstrate that our solution enables following of trajectories unattainable by state-of-the-art controllers with mean error corresponding to 1% of robot arclength.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

et al. 2020

View full text Add to dashboard Cite

show abstract

“…Controlling a CTR with an eye-in-hand configuration was indeed recently demonstrated to provide a high degree of accuracy during positioning tasks with model-based [11] or model-free [10] visual servoing schemes. However, the autonomous navigation of CTRs is still an open challenge [2].…”

Section: Introductionmentioning

confidence: 99%

SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots

Girerd

Kudryavtsev

Rougeot

et al. 2020

IEEE Robot. Autom. Lett.

Self Cite

View full text Add to dashboard Cite

This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the control of concentric tube robots (CTRs). The objective is to make possible the automatic navigation of such continuum robots within an anatomical structure, by simultaneously managing both collision avoidance and map updating of the environment, i.e., of the surrounding anatomical structures. Indeed, CTRs designed to achieve a FTL deployment to date were deployed on path identified during a planning task. In this work, this limitation is overcome by embedding, in the control scheme, an online trajectory estimation, therefore allowing an autonomous deployment of CTRs with an approximate FTL behavior. The proposed hybrid control law integrates a stability criterion to ensure at the same time CTR stability during deployment, required for a FTL deployment. The interest of the approach is demonstrated through simulation using realistic anatomical data and experiments, with a 3 degrees-of-freedom CTR.

show abstract

“…[12,13] The pneumatic-driven CM is powered by the pneumatic pressure so that they are often confused by the inadequate bending stiffness and difficult controllability. (2) Concentric tube CM [14][15][16]. These manipulators are composed of several very slim hyperplastic shape memory tube and form an extensible antenna-like structure.…”

Section: Introductionmentioning

confidence: 99%

Novel design of a contractible, tubular continuum manipulator

Xing

Wang

Zhao

2020

Preprint

View full text Add to dashboard Cite

Continuum manipulators have advantages in narrow space detections and operations than the rigid-body robots. In this paper, we novel designed a continuum manipulator with contractible/extensive abilities that give the manipulator more agile and flexible motion than those without these. The robotic system is composed of the continuum deforming body, driving tendons, and a mechanism. To enhance the displacement accuracy of the tendons and compact the package, the mechanism was designed as a controlled winding roller with rotation and translation motion. A prototype of the robotic system was made to evaluate the motion ability of the proposed design.

show abstract

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Cited by 49 publications

References 36 publications

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots

Novel design of a contractible, tubular continuum manipulator

Contact Info

Product

Resources

About