How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Rao, Priyanka; Peyron, Quentin; Lilge, Sven; Burgner-Kahrs, Jessica

doi:10.3389/frobt.2020.630245

Cited by 124 publications

(72 citation statements)

References 79 publications

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“…The configuration of this section can be defined as an arc with section length si, bending angle θi, and direction angle φi (with positive values when rotating around the Zi-axis counterclockwise). Among the many formulations for continuum robot kinematics [13], in this study we adopt the model in [14] for their limited computational complexity.…”

Section: A Piecewise Continuous Curvature Kinematicsmentioning

confidence: 99%

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An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

Mohammad

Russo

Fang

et al. 2021

IEEE Robot. Autom. Lett.

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Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This paper presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-offreedom snake-like robot for inspection and maintenance tasks in nuclear facilities.

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Section: A Piecewise Continuous Curvature Kinematicsmentioning

confidence: 99%

“…Figure13. Path of the tips of sections 4, 6, and 8 (corresponding to the endeffector) of the snake-like robot acquired by the motion capture system during an uncoiling test, with the black regions estimating the volume occupied by the body of the robot.…”

mentioning

confidence: 99%

An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

Mohammad

Russo

Fang

et al. 2021

IEEE Robot. Autom. Lett.

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“…If the tendons are not fully constrained, other models for

may be more appropriate ( Rao et al, 2021 ). What is noteworthy about either length formulation is that the nonconservative generalized forces do not naturally appear.…”

Section: Review Of the State Of The Artmentioning

confidence: 99%

On the Mathematical Modeling of Slender Biomedical Continuum Robots

Gilbert

2021

Front. Robot. AI

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The passive, mechanical adaptation of slender, deformable robots to their environment, whether the robot be made of hard materials or soft ones, makes them desirable as tools for medical procedures. Their reduced physical compliance can provide a form of embodied intelligence that allows the natural dynamics of interaction between the robot and its environment to guide the evolution of the combined robot-environment system. To design these systems, the problems of analysis, design optimization, control, and motion planning remain of great importance because, in general, the advantages afforded by increased mechanical compliance must be balanced against penalties such as slower dynamics, increased difficulty in the design of control systems, and greater kinematic uncertainty. The models that form the basis of these problems should be reasonably accurate yet not prohibitively expensive to formulate and solve. In this article, the state-of-the-art modeling techniques for continuum robots are reviewed and cast in a common language. Classical theories of mechanics are used to outline formal guidelines for the selection of appropriate degrees of freedom in models of continuum robots, both in terms of number and of quality, for geometrically nonlinear models built from the general family of one-dimensional rod models of continuum mechanics. Consideration is also given to the variety of actuators found in existing designs, the types of interaction that occur between continuum robots and their biomedical environments, the imposition of constraints on degrees of freedom, and to the numerical solution of the family of models under study. Finally, some open problems of modeling are discussed and future challenges are identified.

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“…Depending on the structure, Cosserat-rod-based models (Trivedi et al, 2008;Orekhov et al, 2017;Till and Rucker, 2017;Black et al, 2018) or Kirchhoff-rod-based ones (Takano et al, 2017;Altuzarra and Merlet, 2019;Campa et al, 2019) gained consensus because of their ability to predict the shape and forces of the rods. In the case of tendon-actuated continuum structures, Rao et al proposed guidelines to choose a model depending on the targeted application (Rao et al, 2021). Such guidelines do not currently exist for parallel continuum structures.…”

Section: Introductionmentioning

confidence: 99%

Micrometer Positioning Accuracy With a Planar Parallel Continuum Robot

Mauzé

Laurent²,

Dahmouche³

et al. 2021

Front. Robot. AI

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Parallel Continuum Robots (PCR) have several advantages over classical articulated robots, notably a large workspace, miniaturization capabilities and safe human-robot interactions. However, their low accuracy is still a serious drawback. Indeed, several conditions have to be met for PCR to reach a high accuracy, namely: a repeatable mechanical structure, a correct kinematic model, and a proper estimation of the model’s parameters. In this article, we propose a methodology that allows reaching a micrometer accuracy with a PCR. This approach emphasizes the importance of using a repeatable continuum mechanism, identifying the most influential parameters of an accurate kinematic model of the robot and precisely measuring them. The experimental results show that the proposed approach allows to reach an accuracy of 3.3 µm in position and 0.5 mrad in orientation over a 10 mm long circular path. These results push the current limits of PCR accuracy and make them good potential candidates for high accuracy automatic positioning tasks.

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How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Cited by 124 publications

References 79 publications

An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

An Efficient Follow-the-Leader Strategy for Continuum Robot Navigation and Coiling

On the Mathematical Modeling of Slender Biomedical Continuum Robots

Micrometer Positioning Accuracy With a Planar Parallel Continuum Robot

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