Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
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| _version_ | 1866916193766473728 |
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| author | Donato, Enrico Ansari, Yasmin Tauqeer Laschi, Cecilia Falotico, Egidio |
| author_facet | Donato, Enrico Ansari, Yasmin Tauqeer Laschi, Cecilia Falotico, Egidio |
| contents | Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast, this work proposes a novel plant-inspired behaviour-based controller that exploits information obtained from proximity sensing embedded near the end-effector to move towards a desired spatial target. The controller is tested on a 9-DoF modular cable-driven continuum arm for reaching multiple setpoints in space. The results are promising for the deployability of these systems into unstructured environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2304_07188 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms Donato, Enrico Ansari, Yasmin Tauqeer Laschi, Cecilia Falotico, Egidio Robotics Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast, this work proposes a novel plant-inspired behaviour-based controller that exploits information obtained from proximity sensing embedded near the end-effector to move towards a desired spatial target. The controller is tested on a 9-DoF modular cable-driven continuum arm for reaching multiple setpoints in space. The results are promising for the deployability of these systems into unstructured environments. |
| title | Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms |
| topic | Robotics |
| url | https://arxiv.org/abs/2304.07188 |