Progressive Planning of Continuum Grasping in Cluttered Space

Li, Jinglin; Xiao, Jing

doi:10.1109/tro.2016.2546308

Cited by 42 publications

(17 citation statements)

References 33 publications

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“…Thus the motion planning approach belongs to a class of methodology of non-convex programming. In the literature [30], a progressive motion planning method had been presented for continuum manipulators and the method is useful in nonconvex space. Nevertheless, the method just fits in enveloping grasp operations in tight space, and it is not clear how the method could be modified to apply in trajectory control tasks.…”

Section: Motion Planning Of the Continuum Manipulatorsmentioning

confidence: 99%

“…5, the static obstacle is considered by selecting single characteristic point at the origin of the frame that is far away from the base on the second segment, and by adjusting the scale parameter 1  in (56), then the manipulator does not contact the obstacle during the given operation task. It is worth pointing out that the orientation of the end-effector of the manipulators was generally not controlled in the motion planning of obstacle avoidance in the previous relevant researches [28][29][30]. However, the orientation control for the continuum manipulator is crucial in some operations, such as delivering a cup of water to a patient, massage and acupoint press following a special manipulative reduction for the patients, keeping the focus of optical instruments in endoscope detections etc.…”

Section: Motion Planning Of the Continuum Manipulatorsmentioning

confidence: 99%

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Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators

Zhang

Yuan

et al. 2020

JAIT

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Continuum manipulators have important applications in the human–machine interaction fields. The kinematics, dynamics, and control issues of the continuum manipulators are rather different from a conventional rigid-link manipulator. By the aid of Lie groups theory and exponential coordinate representations, the kinematics of the continuum manipulators with piecewise constant curvatures and actuated by tendons is investigated in this paper. On the basis of differential kinematics analysis, the complete Jacobian of the continuum manipulators is derived analytically, and then a new motion planning approach, named as “dynamic coordination method” is presented for the multisegments continuum manipulators, which is a class of superredundant manipulators. The novel motion planning approach is featured by some appealing properties, and the feasibility of the modeling and the motion planning method is demonstrated by some numerical simulations.

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Section: Motion Planning Of the Continuum Manipulatorsmentioning

confidence: 99%

Section: Motion Planning Of the Continuum Manipulatorsmentioning

confidence: 99%

Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators

Zhang

Yuan

et al. 2020

JAIT

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“…A few works have considered contacts during planning. In [17], point contacts are utilized to progressively generate a wrapping path for CR grasping. In [18], contacts facilitate path changes of a soft growing robot for navigation.…”

Section: Introductionmentioning

confidence: 99%

Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Wang

Ding

Zeng

et al. 2023

Journal of Mechanisms and Robotics

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Continuum robots have attracted lots of attention due to their structural compliance, manipulation dexterity, and design compactness. To extend the application scenarios, a slender continuum robot, the CurviPicker, was developed for low-load medium-speed pick-and-place tasks in a previous study. To improve the payload capacity and positioning accuracy of the CurviPicker, a novel Continuum Delta Robot (CDR) was then proposed with three dual-continuum-joint translators in a preliminary investigation. However, the initial version of the CDR did not fully utilize the bending ranges of its continuum joints. What's more, while being modeled using the constant curvature assumption for the continuum joints, the CDR shows lowered positioning accuracy for heavier objects, as the CDR's continuum joints diverge from the assumed constant curvature shapes. In this paper, the design of the CDR was re-optimized to enable wider bending ranges of the continuum joints (> 90 °) to generate enlarged workspace, taking into considerations several possible structural interferences. Furthermore, a kinetostatic model is derived based on the Cosserat rod theory to reduce the positioning errors caused by the external loads. The experimental result showed that the workspace is enlarged to approximately 9.47 × 107 mm3 compared with the volume of 6.57 × 107 mm3 of the initial version. Within this enlarged workspace, the average positioning error with a 1000-gram load was reduced to 1.93 mm, compared with 4.43 mm obtained by the previous constant curvature assumption.

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“…Soft and continuum robots are inherently compliant structures that undergo smooth and continuous structural deformation to form complex "organic" shapes. Prior work has demonstrated the potential of soft robots for adaptive whole arm grasping [1], obstacle avoidance and progressive planning [2], grasping in cluttered space [3], navigation in obstructive and unstructured environments [4], humanfriendly interaction [5], and locomotion [6] just as few examples. Despite continued research demonstrating their immense potential, they are largely confined to laboratory settings.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Soft Robots Incorporating Soft and Stiff Elements

Arachchige¹,

Godage²

2022

Preprint

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Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this work, inspired by spider monkeys' tails, we propose a hybrid soft robot (HSR) design. We detail the design objectives and methodology to improve controllable stiffness range and achieve independent stiffness and shape control. We extend the curve parametric approach to We experimentally demonstrate that the proposed HSR has about 100% stiffness range increase than a previous soft robot design with identical physical dimensions. In addition, we empirically map HSR's bending shape-pressure-stiffness and present an application examplea soft robotic gripper -to demonstrate the decoupled nature of stiffness and shape variations. Experimental results show that proposed HSR can be successfully used in applications where independent stiffness and shape control is desired.

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Progressive Planning of Continuum Grasping in Cluttered Space

Cited by 42 publications

References 33 publications

Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators

Kinematics Modeling and Motion Planning of Tendon Driven Continuum Manipulators

Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Hybrid Soft Robots Incorporating Soft and Stiff Elements

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