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Title: Computing pressure-deformation maps for braided continuum robots
Authors: Navarro-Alarcon, D 
Zahra, O 
Trejo, C 
Olguín-Díaz, E
Parra-Vega, V
Keywords: Continuum robots
Self-organizing maps
Adaptive systems
Sensorimotor models
Neural networks
Issue Date: 5-Feb-2019
Publisher: Frontiers Research Foundation
Source: Frontiers in robotics and AI, Feb. 2019, v. 6, 4, p. 1-6 How to cite?
Journal: Frontiers in robotics and AI 
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.
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) ( 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
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