Visual shape and position sensing algorithm for a continuum robot

R. A. Manakov, D. Y. Kolpashchikov, V. V. Danilov, N. V. Laptev, I. P. Skirnevskiy, O. M. Gerget

Research output: Contribution to journalConference articlepeer-review


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.

Original languageEnglish
Article number012066
JournalIOP Conference Series: Materials Science and Engineering
Issue number1
Publication statusPublished - 20 Jan 2021
Event14th International Forum on Strategic Technology, IFOST 2019 - Tomsk, Russian Federation
Duration: 14 Oct 201917 Oct 2019

ASJC Scopus subject areas

  • Materials Science(all)
  • Engineering(all)

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