Multiple Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Utilizing Contact Particle Filter and Kinetostatic Models

verfasst von

Tim-David Job, Martin Bensch, Moritz Schappler

Abstract

This paper presents a new approach to determine single and multiple simultaneous contact forces on a tendon-driven continuum robot (CR). The estimation is based solely on the proprioceptive tendon force and length sensors that are already present. Unlike for rigid-body robots, only indirect measurements of the external forces' deflection is available. The required full kinetostatic model, which is prone to local minima due to the unknown contacts, is solved with a particle filter. The method is validated by simulative studies and experimental investigations on a new robot setup for visual inspection of aircraft engines. The algorithm allows the estimation of single contacts with an error up to 4.43 mm or 2.9 % of the robot's length. Multiple contacts can only be correctly determined at the two distal of the three segments.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Robotik & autonome Systeme

Typ

Aufsatz in Konferenzband

Seiten

10224-10231

Anzahl der Seiten

8

Publikationsdatum

2023

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Software, Steuerungs- und Systemtechnik, Maschinelles Sehen und Mustererkennung, Angewandte Informatik

Elektronische Version(en)

https://doi.org/10.1109/IROS55552.2023.10341897 (Zugang: Geschlossen)