TY - JOUR
T1 - Visual shape and position sensing algorithm for a continuum robot
AU - Manakov, R. A.
AU - Kolpashchikov, D. Y.
AU - Danilov, V. V.
AU - Laptev, N. V.
AU - Skirnevskiy, I. P.
AU - Gerget, O. M.
N1 - Publisher Copyright:
© 2021 Institute of Physics Publishing. All rights reserved.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2021/1/20
Y1 - 2021/1/20
N2 - Continuum robots represent an actively developing and fast-growing technology in robotics. To successfully implement control and path planning of continuum robots it is important to develop an accurate three-dimensional shape and position sensing algorithm. In this paper, we propose an algorithm for the three-dimensional reconstruction of the continuum robot shape. The algorithm is performed during several steps. Initially, images from two cameras are processed by applying pre-processing and segmentation techniques. Then, the gradient descent method is applied to compare two-dimensional skeleton points of both masks. Having compared these points, it finds a skeleton of the robot in a three-dimensional form. Additionally, the proposed algorithm is able to define key points using the distance from the robot base along the center line. The latter allows controlling the position of points of interest defined by a user. As a result, the developed algorithm achieved a relatively high level of accuracy and speed.
AB - Continuum robots represent an actively developing and fast-growing technology in robotics. To successfully implement control and path planning of continuum robots it is important to develop an accurate three-dimensional shape and position sensing algorithm. In this paper, we propose an algorithm for the three-dimensional reconstruction of the continuum robot shape. The algorithm is performed during several steps. Initially, images from two cameras are processed by applying pre-processing and segmentation techniques. Then, the gradient descent method is applied to compare two-dimensional skeleton points of both masks. Having compared these points, it finds a skeleton of the robot in a three-dimensional form. Additionally, the proposed algorithm is able to define key points using the distance from the robot base along the center line. The latter allows controlling the position of points of interest defined by a user. As a result, the developed algorithm achieved a relatively high level of accuracy and speed.
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U2 - 10.1088/1757-899X/1019/1/012066
DO - 10.1088/1757-899X/1019/1/012066
M3 - Conference article
AN - SCOPUS:85100335815
VL - 1019
JO - IOP Conference Series: Materials Science and Engineering
JF - IOP Conference Series: Materials Science and Engineering
SN - 1757-8981
IS - 1
M1 - 012066
T2 - 14th International Forum on Strategic Technology, IFOST 2019
Y2 - 14 October 2019 through 17 October 2019
ER -