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Conference Paper: Control of articulated snake robot under dynamic active constraints

TitleControl of articulated snake robot under dynamic active constraints
Authors
Issue Date2010
Citation
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2010, v. 6363 LNCS, n. PART 3, p. 229-236 How to Cite?
AbstractFlexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism. © 2010 Springer-Verlag.
Persistent Identifierhttp://hdl.handle.net/10722/200005
ISSN
2005 Impact Factor: 0.402
2015 SCImago Journal Rankings: 0.252

 

DC FieldValueLanguage
dc.contributor.authorKwok, Kawai-
dc.contributor.authorVitiello, Valentina-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:11:01Z-
dc.date.available2014-07-26T23:11:01Z-
dc.date.issued2010-
dc.identifier.citationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2010, v. 6363 LNCS, n. PART 3, p. 229-236-
dc.identifier.issn0302-9743-
dc.identifier.urihttp://hdl.handle.net/10722/200005-
dc.description.abstractFlexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism. © 2010 Springer-Verlag.-
dc.languageeng-
dc.relation.ispartofLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)-
dc.titleControl of articulated snake robot under dynamic active constraints-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1007/978-3-642-15711-0_29-
dc.identifier.scopuseid_2-s2.0-78349264204-
dc.identifier.volume6363 LNCS-
dc.identifier.issuePART 3-
dc.identifier.spage229-
dc.identifier.epage236-
dc.identifier.eissn1611-3349-

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