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http://hdl.handle.net/10397/81170
Title: | Computing pressure-deformation maps for braided continuum robots | Authors: | Navarro-Alarcon, D Zahra, O Trejo, C Olguín-Díaz, E Parra-Vega, V |
Issue Date: | 5-Feb-2019 | Source: | Frontiers in robotics and AI, Feb. 2019, v. 6, 4, p. 1-6 | Abstract: | This paper presents a method for computing sensorimotor maps of braided continuum robots driven by pneumatic actuators. The method automatically creates a lattice-like representation of the sensorimotor map that preserves the topology of the input space by arranging its nodes into clusters of related data. Deformation trajectories can be simply represented with adjacent nodes whose values smoothly change along the lattice curve; this facilitates the computation of controls and the prediction of deformations in systems with unknown mechanical properties. The proposed model has an adaptive structure that can recalibrate to cope with changes in the mechanism or actuators. An experimental study with a robotic prototype is conducted to validate the proposed method. | Keywords: | Continuum robots Self-organizing maps Adaptive systems Sensorimotor models Neural networks |
Publisher: | Frontiers Research Foundation | Journal: | Frontiers in robotics and AI | EISSN: | 2296-9144 | DOI: | 10.3389/frobt.2019.00004 | Rights: | Copyright © 2019 Navarro-Alarcon, Zahra, Trejo, Olguín-Díaz and Parra-Vega. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY) (https://creativecommons.org/licenses/by/4.0/). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. The following publication Navarro-Alarcon D, Zahra O, Trejo C, Olguín-Díaz E and Parra-Vega V (2019) Computing Pressure-Deformation Maps for Braided Continuum Robots. Front. Robot. AI 6:4, 1-6 is available at https://dx.doi.org/10.3389/frobt.2019.00004 |
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Navarro-Alarcon_Computing_Pressure-Deformation_Maps.pdf | 1.8 MB | Adobe PDF | View/Open |
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