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and Registration of Continuum Robots in Flexible Environments
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BibTeX
@MISC{Tully_andregistration,
author = {Stephen Tully and Andrea Bajo and George Kantor and Howie Choset and Nabil Simaan and Stephen Tully and Andrea Bajo and George Kantor and Howie Choset and Nabil Simaan},
title = {and Registration of Continuum Robots in Flexible Environments},
year = {}
}
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Abstract
Abstract — This paper presents a novel filtering technique that uses contact detection data and environmental stiffness estimates to register and localize a robot with respect to an a priori 3D surface model. The algorithm leverages geometric constraints within a Kalman filter framework and relies on two distinct update procedures: 1) an equality constrained step for when the robot is forcefully contacting the environment, and 2) an inequality constrained step for when the robot lies in the freespace of the environment. This filtering procedure registers the robot by incrementally eliminating probabilistically infeasible state space regions until a high likelihood solution emerges. In addition to registration and localization, the algorithm can estimate the deformation of the surface model and can detect false positives with respect to contact estimation. This method is experimentally evaluated with an experiment involving a
Keyphrases
continuum robot flexible environment surface model kalman filter framework environmental stiffness estimate infeasible state space region distinct update procedure contact detection data high likelihood solution novel filtering technique false positive filtering procedure geometric constraint
