Task-constrained continuum manipulation in cluttered space

Continuum manipulators do not contain rigid links and can deform continuously to perform a whole arm manipulation. Hence, they are much more flexible than articulated manipulators to perform tasks in cluttered space. However, autonomous manipulation constrained by tasks other than grasping has not been studied for continuum manipulators. In this paper, we introduce a general and efficient approach for autonomous continuum manipulation under task constraints. We consider a spatial continuum manipulator with multiple uniform-curvature sections if not deformed. We further apply the approach to an example of inspection task in a cluttered environment to verify its effectiveness. The high-efficiency of our approach makes it suitable to run on-line for guiding task-constrained manipulation in real-time.

[1]  Ron Alterovitz,et al.  Motion planning for concentric tube robots using mechanics-based models , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Jing Xiao,et al.  Determining “grasping” configurations for a spatial continuum manipulator , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Mike Stilman,et al.  Global Manipulation Planning in Robot Joint Space With Task Constraints , 2010, IEEE Transactions on Robotics.

[4]  Ian D. Walker,et al.  Octopus-inspired grasp-synergies for continuum manipulators , 2009, 2008 IEEE International Conference on Robotics and Biomimetics.

[5]  Ian D. Walker,et al.  ROBOTIC MANIPULATORS INSPIRED BY CEPHALOPOD LIMBS , 2011 .

[6]  Siddhartha S. Srinivasa,et al.  Task Space Regions , 2011, Int. J. Robotics Res..

[7]  Jing Xiao,et al.  Exact and efficient Collision Detection for a multi-section Continuum Manipulator , 2012, 2012 IEEE International Conference on Robotics and Automation.

[8]  J. Bruce C. Davies,et al.  Continuum robots - a state of the art , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[9]  Jing Xiao,et al.  Progressive generation of force-closure grasps for an n-section continuum manipulator , 2013, 2013 IEEE International Conference on Robotics and Automation.

[10]  Adam Morecki,et al.  Elephant trunk type elastic manipulator - a tool for bulk and liquid materials transportation , 1999, Robotica.

[11]  Tianjiang Zheng,et al.  Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures , 2013, Bioinspiration & biomimetics.

[12]  Robert J. Webster,et al.  Task-oriented design of concentric tube robots using mechanics-based models , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Ian D. Walker,et al.  Soft robotics: Biological inspiration, state of the art, and future research , 2008 .

[14]  Darwin G. Caldwell,et al.  Novel modal approach for kinematics of multisection continuum arms , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Ian D. Walker,et al.  Autonomous continuum grasping , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Ian D. Walker,et al.  Field trials and testing of the OctArm continuum manipulator , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[17]  Robert J. Webster,et al.  Mechanics of Precurved-Tube Continuum Robots , 2009, IEEE Transactions on Robotics.

[18]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[19]  Ian D. Walker,et al.  A geometrical approach to inverse kinematics for continuum manipulators , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Oliver Brock,et al.  Task-consistent obstacle avoidance and motion behavior for mobile manipulation , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[21]  Jing Xiao,et al.  Progressive, continuum grasping in cluttered space , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  Jing Xiao,et al.  Real-time adaptive motion planning for a continuum manipulator , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.