NDLI: Snake robot shape sensing using micro-inertial sensors

Content Provider	IEEE Xplore Digital Library
Author	Zhiqiang Zhang Jianzhong Shang Seneci, C. Guang-Zhong Yang
Copyright Year	2013
Description	Author affiliation: Hamlyn Centre for Robotic Surg., Imperial Coll. London, London, UK (Zhiqiang Zhang; Jianzhong Shang; Seneci, C.; Guang-Zhong Yang)
Abstract	Real-time shape sensing and state acquisition is important for closed-loop control of hyper-redundant snake robots in minimally invasive surgery. Due to the miniaturized size of such minimally invasive surgery robots, it is not feasible to use existing angular sensors involving rotary encoders. With recent advances of the MEMS technology, micro inertial sensors have shown their potential for robot state estimation. Previous studies have demonstrated that accurate joint angles can be estimated for one degree-of-freedom (DoF) joints. However, higher DoF joints of the robot can impose a number of challenges to the current joint angle estimation methods. This paper presents a micro-sensing platform and shape reconstruction algorithm for minimally invasive surgery snake robot with two DoF joints. The method incorporates both gravitational and gyroscopic sensing for calculating the rotation difference between any consecutive robot segments. The gyroscope measurements are first used as the input to predict the rotation difference by direct orientation integration. The orientation difference is then derived from the consecutive acceleration vectors to update the prediction through a complementary filter. To demonstrate the performance of our proposed approach, a robot prototype with two universal joints was fabricated. Detailed experimental results have demonstrated that high accuracy can be achieved by using the proposed method for joint angle estimation.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	831
Ending Page	836
File Size	858146
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696447
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Robot sensing systems Gyroscopes Robot kinematics Estimation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Virtual chassis for snake robots

Multi arm snake-like robot kinematics

Shape estimation for image-guided surgery with a highly articulated snake robot

Experimental investigation of human-robot cooperative carrying

Stabilizing humanoids on slopes using terrain inclination estimation

Human preferences for robot-human hand-over configurations

Climbing and descending control of a snake robot on step environments based on kinematics

Obstacles are beneficial to me! Scaffold-based locomotion of a snake-like robot using decentralized control

Improving robot manipulation through fingertip perception

Snake robot shape sensing using micro-inertial sensors

Similar Documents

Virtual chassis for snake robots

Multi arm snake-like robot kinematics

Shape estimation for image-guided surgery with a highly articulated snake robot

Experimental investigation of human-robot cooperative carrying

Stabilizing humanoids on slopes using terrain inclination estimation

Human preferences for robot-human hand-over configurations

Climbing and descending control of a snake robot on step environments based on kinematics

Obstacles are beneficial to me! Scaffold-based locomotion of a snake-like robot using decentralized control

Improving robot manipulation through fingertip perception

Snake robot shape sensing using micro-inertial sensors