Ataka, A;
Stilli, A;
Konstantinova, J;
Wurdemann, HA;
Althoefer, K;
(2019)
Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator.
In:
Towards Autonomous Robotic Systems.
(pp. pp. 52-64).
Springer: Cham, Switzerland.
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Abstract
In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is exploited to help the actuators stay under their maximum capability. The navigation algorithm is shown to outperform the potential-field-based navigation in its ability to smoothly and reactively avoid obstacles and reach the goal in simulation scenarios.
| Type: | Proceedings paper |
|---|---|
| Title: | Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator |
| Event: | TAROS 2019 |
| ISBN-13: | 9783030238063 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1007/978-3-030-23807-0_5 |
| Publisher version: | https://doi.org/10.1007/978-3-030-23807-0_5 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Kinematic control, Obstacle avoidance, Soft manipulator, Bio-inspired robot |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10080151 |
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