User interfaces for continuum robot arms

This paper presents new results for intuitive teleoperation of continuous backbone "continuum" robot manipulators. Continuum robots present unique challenges due to the nonintuitive (to humans) nature of their basic movements. We present a series of mappings, at both position and velocity levels, which provide human operators with a versatile and intuitive suite of options for joystick control of continuum robots. Results from implementations on two types of continuum manipulator hardware are summarized.

[1]  Ian A. Gravagne,et al.  Manipulability, force, and compliance analysis for planar continuum manipulators , 2002, IEEE Trans. Robotics Autom..

[2]  Robin R. Murphy,et al.  Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center , 2003, IEEE Trans. Syst. Man Cybern. Part B.

[3]  Hiromi Mochiyama,et al.  The shape Jacobian of a manipulator with hyper degrees of freedom , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Ian D. Walker,et al.  Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots , 2003, J. Field Robotics.

[5]  Takeshi Aoki,et al.  Study on slime robot: development of the mobile robot prototype model using bridle bellows , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[6]  Ian A. Gravagne,et al.  On the kinematics of remotely-actuated continuum robots , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[7]  Russell H. Taylor,et al.  A dexterous system for laryngeal surgery , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[8]  Shoichi Iikura,et al.  Development of flexible microactuator and its applications to robotic mechanisms , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[9]  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).

[10]  J. Wilson,et al.  Flexible Robot Manipulators and Grippers: Relatives of Elephant Trunks and Squid Tentacles , 1993 .

[11]  S. Hirose,et al.  Design of slim slime robot and its gait of locomotion , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

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

[13]  Guy Immega,et al.  The KSI tentacle manipulator , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[14]  Ian D. Walker,et al.  Design and Analysis of a Novel Pneumatic Manipulator , 2004 .

[15]  Shigeo Hirose,et al.  Biologically Inspired Robots , 1993 .

[16]  Hideyuki Tsukagoshi,et al.  Active Hose: an artificial elephant's nose with maneuverability for rescue operation , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[17]  Ian D. Walker,et al.  A New Approach to Jacobian Formulation for a Class of Multi-Section Continuum Robots , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[18]  Christopher D. Rahn,et al.  Design of an artificial muscle continuum robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.