Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots

@article{Bajo2012KinematicsBasedDA,
  title={Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots},
  author={Andrea Bajo and Nabil Simaan},
  journal={IEEE Transactions on Robotics},
  year={2012},
  volume={28},
  pages={291-302}
}
In this paper, we present a novel kinematic-based framework for collision detection and estimation of contact location along multisegment continuum robots. Screw theory is used to define a screw motion deviation (SMD) as the distance between the expected and the actual instantaneous screw axis (ISA) of motion. The expected ISA is computed based on the unconstrained kinematics model of the robot, while the actual ISA is computed based on sensory information. Collisions with rigid environments at… CONTINUE READING
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