Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics

verfasst von

Tim Lukas Habich, Melvin Hueter, Moritz Schappler, Svenja Spindeldreier

Abstract

Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees of freedom. Our work addresses this by presenting a unified telemanipulation strategy which enables follow-the-leader locomotion and reorientation keeping the shape change as small as possible. The basis for this is a novel shape-fitting approach for solving the inverse kinematics in only a few milliseconds. Shape fitting is performed by maximizing the similarity of two curves using Fréchet distance while simultaneously specifying the position and orientation of the end effector. Telemanipulation performance is investigated in a study in which 14 participants controlled a simulated snake robot to locomote into the target area. In a final validation, pivot reorientation within the target area is addressed.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

9651-9657

Anzahl der Seiten

7

Publikationsdatum

2023

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Software, Steuerungs- und Systemtechnik, Elektrotechnik und Elektronik, Artificial intelligence

Elektronische Version(en)

https://doi.org/10.48550/arXiv.2303.00065 (Zugang: Offen)
https://doi.org/10.1109/ICRA48891.2023.10161124 (Zugang: Geschlossen)