@inproceedings{339c2c9b10014b189a710dfe45d7ca57,
title = "Collision avoidance for continuum robot using FABRIK algorithm",
abstract = "Continuum robots are manipulators able to bend at any point along their structure. This feature allows continuum robots to work in areas with complex geometry. In this regard, they are used as instruments and endoscopes in industry and medicine. Inverse kinematics for continuum robots is using for control and path planning. Recently, Forward And Backward Reaching Inverse Kinematics (FABRIK) algorithm has been used for solving inverse kinematics issue for continuum robots. For this, arcs of continuum robot are simplified to virtual links. But virtual links can not be used to define the distance between continuum robot body and obstacle without restoring whole robot section. In this paper, we propose a method for obstacle avoidance for multi-section continuum robot using FABRIK algorithm. The simulation results for the planar case show that the proposed method is able to avoid unwanted collisions.",
keywords = "Collision avoidance, Continuum robot, FABRIK, Kinematics",
author = "Gerget, {Olga M.} and Kolpashchikov, {Dmitrii Yu}",
note = "Funding Information: This study was supported by the Russian Federation Governmental Program “Nauka” № 12.8205.2017/БЧ (additional number: 4.1769.ГЗБ.2017). Publisher Copyright: {\textcopyright} 2019 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 12th International Conference {"}Management of Large-Scale System Development{"}, MLSD 2019 ; Conference date: 01-10-2019 Through 03-10-2019",
year = "2019",
month = oct,
doi = "10.1109/MLSD.2019.8911070",
language = "English",
series = "Proceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
editor = "Anatoly Tsvirkun",
booktitle = "Proceedings of 2019 12th International Conference {"}Management of Large-Scale System Development{"}, MLSD 2019",
address = "United States",
}