ArticleIEEE robotics and automation letters2020
Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators.
Article in IEEE robotics and automation letters, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
3 citing papers in PubMed.
- A dexterous and compliant aerial continuum manipulator for cluttered and constrained environments.Nature communications · 2025Article
- Continuum Robots for Medical Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy.IEEE robotics and automation letters · 2020Article
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Authors and funding
7 authors.
Funding
Abstract
Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Independent of the design, kinematic models need to be calibrated to best describe the deformation of the manipulator. However, even after calibration, unmodeled effects such as friction, nonlinear elastic and/or spatially varying material properties as well as manufacturing imprecision reduce the accuracy of these models. In this paper, we present a method for improving the accuracy of kinematic models of continuum manipulators through the incorporation of orientation sensor feedback. We achieve this through the use of a "disturbance wrench", which is used to compensate for these unmodeled effects, and is continuously estimated based on orientation sensor feedback as the robot moves through its workspace. The presented method is applied to the HydroJet, a waterjet-actuated soft continuum manipulator, and shows an average of 40% reduction in root mean square position and orientation error in the two most common types of kinematic models for continuum manipulators, a Cosserat rod model and a pseudo-rigid body model.
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