Natural motion of one-dimensional flexible objects using minimization approaches

Menon, Midhun S.; Ananthasuresh, G. K.; Ghosal, Ashitava

doi:10.1016/j.mechmachtheory.2013.04.003

Cited by 18 publications

(10 citation statements)

References 11 publications

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“…In reference [3], the authors have proposed an intuitive and computationally inexpensive motion planner based on the tractrix curve [33] for free space motion. It is shown that the algorithm has the interesting property of attenuating motion of the links as one traverses from the head to the tail, and, as a result, the motion appears more natural.…”

Section: Comparison With Existing Algorithmsmentioning

confidence: 99%

“…We first present in brief, the formulation and a general result for an arbitrary curve, one end of which is given a prescribed motion in free space. Next, the results for a single straight rigid object is given and it is shown that the motion of the distal end traces a classical curve, called the tractrix, when the proximal end (head) is moved along a straight line (see [3]). To incorporate the obstacles in the optimization based approach, additional constraints are added and this requires the boundary of the obstacles to be modeled by smooth differentiable functions.…”

Section: Constrained Lagrangian Formulationmentioning

confidence: 99%

“…Note that, in this proposed parametrization, the functions x(0,t) = 0 and y(0,t) = 0 at any instant t. This is due to the fact that at s = 0 (leading end), the absolute displacements are completely specified by the predefined functions (T x (t), T y (t)). For the infinitesimal displacement from time t to t + ∆t, the "distance/velocity"( [3]), between the two curves can be defined as…”

Section: Formulation For a Curvementioning

confidence: 99%

“…Likewise, in medical robotics, tools and techniques from research in hyper-redundant robots are being increasingly used in developing advanced actuated endoscopes and virtual surgery simulators where tasks such as suturing or motion of flexible arteries need to be shown in a realistic manner [2]. Finally, in the animation of flexible objects such as a string, hair and flexible hoses, the flexible object is discretized into a large number of rigid objects and, again, techniques used for motion planning in hyper-redundant robots are used [3]. This paper deals with the development and experimental validation of an algorithm for realistic and efficient motion planning of hyper-redundant serial robots in free space as well as in the presence of obstacles where these obstacles are avoided by the entire robot.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Menon

Ravi

Ghosal

2017

Journal of Mechanisms and Robotics

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Hyper-redundant snakelike serial robots are of great interest due to their application in search and rescue during disaster relief in highly cluttered environments and recently in the field of medical robotics. A key feature of these robots is the presence of a large number of redundant actuated joints and the associated well-known challenge of motion planning. This problem is even more acute in the presence of obstacles. Obstacle avoidance for point bodies, nonredundant serial robots with a few links and joints, and wheeled mobile robots has been extensively studied, and several mature implementations are available. However, obstacle avoidance for hyper-redundant snakelike robots and other extended articulated bodies is less studied and is still evolving. This paper presents a novel optimization algorithm, derived using calculus of variation, for the motion planning of a hyper-redundant robot where the motion of one end (head) is an arbitrary desired path. The algorithm computes the motion of all the joints in the hyper-redundant robot in a way such that all its links avoid all obstacles present in the environment. The algorithm is purely geometric in nature, and it is shown that the motion in free space and in the vicinity of obstacles appears to be more natural. The paper presents the general theoretical development and numerical simulations results. It also presents validating results from experiments with a 12-degree-of-freedom (DOF) planar hyper-redundant robot moving in a known obstacle field.

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Section: Comparison With Existing Algorithmsmentioning

confidence: 99%

Section: Constrained Lagrangian Formulationmentioning

confidence: 99%

Section: Formulation For a Curvementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Menon

Ravi

Ghosal

2017

Journal of Mechanisms and Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Vibration damping of DLO has been dealt with fuzzy control [9], and sliding mode control [10,11]. Reproducing the motion of the DLO in response to a force involves careful modeling and optimization techniques [12,13].…”

Section: Introductionmentioning

confidence: 99%