This paper describes external camera-based shape estimation for continuum robots. Continuum robots have a continuous backbone made of sections which bend to produce changes of configuration. A major difficulty with continuum robots is the determination of the robot's shape, as there are no discrete joints. This paper presents a method for shape determination based on machine vision. Using an engineered environment and image processing from a high speed camera, shape determination of a continuum robot is achieved. Experimental results showing the effectiveness of the technique on our Elephant's Trunk Manipulator are presented.
No takes yet. Share an insight, caveat, or question.
Hannan et al. (2005) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: