Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing. Goldman, R. E., Bajo, A., & Simaan, N. IEEE Transactions on Robotics, 30(4):890–902, August, 2014. doi abstract bibtex During exploration through tortuous unstructured passages by continuum robots, methods are required to minimize the force interaction between the environment and the robot along its length. This paper presents and evaluates an algorithm for compliant motion control of continuum robots subjected to multiple unknown contacts with the environment. A mapping of external wrenches to a generalized force in the configuration space of a multisegment continuum robot is presented and related to measured joint-level actuation forces. These measurements are applied as inputs to a low-level compliant motion controller. Friction and modeling uncertainties, presenting an unknown nonlinear deviation from the nominal system model, are corrected via a feed-forward estimate provided by a support vector machine. The controller is evaluated on Ø9 and Ø5 mm multisegment continuum robots. We quantify the minimal interaction forces needed to generate compliant motion and demonstrate the ability of the controller to minimize interaction forces during insertion through tortuous passages.
@article{goldman_compliant_2014,
title = {Compliant {Motion} {Control} for {Multisegment} {Continuum} {Robots} {With} {Actuation} {Force} {Sensing}},
volume = {30},
issn = {1552-3098},
doi = {10.1109/TRO.2014.2309835},
abstract = {During exploration through tortuous unstructured passages by continuum robots, methods are required to minimize the force interaction between the environment and the robot along its length. This paper presents and evaluates an algorithm for compliant motion control of continuum robots subjected to multiple unknown contacts with the environment. A mapping of external wrenches to a generalized force in the configuration space of a multisegment continuum robot is presented and related to measured joint-level actuation forces. These measurements are applied as inputs to a low-level compliant motion controller. Friction and modeling uncertainties, presenting an unknown nonlinear deviation from the nominal system model, are corrected via a feed-forward estimate provided by a support vector machine. The controller is evaluated on Ø9 and Ø5 mm multisegment continuum robots. We quantify the minimal interaction forces needed to generate compliant motion and demonstrate the ability of the controller to minimize interaction forces during insertion through tortuous passages.},
number = {4},
journal = {IEEE Transactions on Robotics},
author = {Goldman, R. E. and Bajo, A. and Simaan, N.},
month = aug,
year = {2014},
keywords = {Continuum robot, Force, Motion control, Robot kinematics, Robot sensing systems, Robots, Vectors, actuation force sensing, compliant motion control, configuration space, external wrenches, feedforward, feedforward estimation, force interaction, force sensors, friction uncertainties, generalized force, kinematics, machine learning, modeling uncertainties, multisegment continuum robots, support vector machine, support vector machines, tortuous passages},
pages = {890--902}
}
Downloads: 0
{"_id":"fTpuHK7hsE2ggcsZi","bibbaseid":"goldman-bajo-simaan-compliantmotioncontrolformultisegmentcontinuumrobotswithactuationforcesensing-2014","downloads":0,"creationDate":"2018-10-29T22:20:01.528Z","title":"Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing","author_short":["Goldman, R. E.","Bajo, A.","Simaan, N."],"year":2014,"bibtype":"article","biburl":"https://bibbase.org/zotero/aorekhov","bibdata":{"bibtype":"article","type":"article","title":"Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing","volume":"30","issn":"1552-3098","doi":"10.1109/TRO.2014.2309835","abstract":"During exploration through tortuous unstructured passages by continuum robots, methods are required to minimize the force interaction between the environment and the robot along its length. This paper presents and evaluates an algorithm for compliant motion control of continuum robots subjected to multiple unknown contacts with the environment. A mapping of external wrenches to a generalized force in the configuration space of a multisegment continuum robot is presented and related to measured joint-level actuation forces. These measurements are applied as inputs to a low-level compliant motion controller. Friction and modeling uncertainties, presenting an unknown nonlinear deviation from the nominal system model, are corrected via a feed-forward estimate provided by a support vector machine. The controller is evaluated on Ø9 and Ø5 mm multisegment continuum robots. We quantify the minimal interaction forces needed to generate compliant motion and demonstrate the ability of the controller to minimize interaction forces during insertion through tortuous passages.","number":"4","journal":"IEEE Transactions on Robotics","author":[{"propositions":[],"lastnames":["Goldman"],"firstnames":["R.","E."],"suffixes":[]},{"propositions":[],"lastnames":["Bajo"],"firstnames":["A."],"suffixes":[]},{"propositions":[],"lastnames":["Simaan"],"firstnames":["N."],"suffixes":[]}],"month":"August","year":"2014","keywords":"Continuum robot, Force, Motion control, Robot kinematics, Robot sensing systems, Robots, Vectors, actuation force sensing, compliant motion control, configuration space, external wrenches, feedforward, feedforward estimation, force interaction, force sensors, friction uncertainties, generalized force, kinematics, machine learning, modeling uncertainties, multisegment continuum robots, support vector machine, support vector machines, tortuous passages","pages":"890–902","bibtex":"@article{goldman_compliant_2014,\n\ttitle = {Compliant {Motion} {Control} for {Multisegment} {Continuum} {Robots} {With} {Actuation} {Force} {Sensing}},\n\tvolume = {30},\n\tissn = {1552-3098},\n\tdoi = {10.1109/TRO.2014.2309835},\n\tabstract = {During exploration through tortuous unstructured passages by continuum robots, methods are required to minimize the force interaction between the environment and the robot along its length. This paper presents and evaluates an algorithm for compliant motion control of continuum robots subjected to multiple unknown contacts with the environment. A mapping of external wrenches to a generalized force in the configuration space of a multisegment continuum robot is presented and related to measured joint-level actuation forces. These measurements are applied as inputs to a low-level compliant motion controller. Friction and modeling uncertainties, presenting an unknown nonlinear deviation from the nominal system model, are corrected via a feed-forward estimate provided by a support vector machine. The controller is evaluated on Ø9 and Ø5 mm multisegment continuum robots. We quantify the minimal interaction forces needed to generate compliant motion and demonstrate the ability of the controller to minimize interaction forces during insertion through tortuous passages.},\n\tnumber = {4},\n\tjournal = {IEEE Transactions on Robotics},\n\tauthor = {Goldman, R. E. and Bajo, A. and Simaan, N.},\n\tmonth = aug,\n\tyear = {2014},\n\tkeywords = {Continuum robot, Force, Motion control, Robot kinematics, Robot sensing systems, Robots, Vectors, actuation force sensing, compliant motion control, configuration space, external wrenches, feedforward, feedforward estimation, force interaction, force sensors, friction uncertainties, generalized force, kinematics, machine learning, modeling uncertainties, multisegment continuum robots, support vector machine, support vector machines, tortuous passages},\n\tpages = {890--902}\n}\n\n","author_short":["Goldman, R. E.","Bajo, A.","Simaan, N."],"key":"goldman_compliant_2014","id":"goldman_compliant_2014","bibbaseid":"goldman-bajo-simaan-compliantmotioncontrolformultisegmentcontinuumrobotswithactuationforcesensing-2014","role":"author","urls":{},"keyword":["Continuum robot","Force","Motion control","Robot kinematics","Robot sensing systems","Robots","Vectors","actuation force sensing","compliant motion control","configuration space","external wrenches","feedforward","feedforward estimation","force interaction","force sensors","friction uncertainties","generalized force","kinematics","machine learning","modeling uncertainties","multisegment continuum robots","support vector machine","support vector machines","tortuous passages"],"downloads":0},"search_terms":["compliant","motion","control","multisegment","continuum","robots","actuation","force","sensing","goldman","bajo","simaan"],"keywords":["continuum robot","force","motion control","robot kinematics","robot sensing systems","robots","vectors","actuation force sensing","compliant motion control","configuration space","external wrenches","feedforward","feedforward estimation","force interaction","force sensors","friction uncertainties","generalized force","kinematics","machine learning","modeling uncertainties","multisegment continuum robots","support vector machine","support vector machines","tortuous passages"],"authorIDs":[],"dataSources":["Q5cy5ZnQZvoGxZ7DT"]}