Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms
arxiv(2023)
摘要
Enabling reaching capabilities in highly redundant continuum robot arms is an
active area of research. Existing solutions comprise of task-space controllers,
whose proper functioning is still limited to laboratory environments. In
contrast, this work proposes a novel plant-inspired behaviour-based controller
that exploits information obtained from proximity sensing embedded near the
end-effector to move towards a desired spatial target. The controller is tested
on a 9-DoF modular cable-driven continuum arm for reaching multiple setpoints
in space. The results are promising for the deployability of these systems into
unstructured environments.
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