Journal
ADVANCED ROBOTICS
Volume 23, Issue 15, Pages 2077-2091Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1163/016918609X12529299964101
Keywords
Inverse kinematics; continuum robot
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Funding
- DARPA Defense Sciences Office (DSO)
- Biologically Inspired Multifunctional Dynamic Robotics (BIODYNOTICS) Program [N66001-03-C-8043]
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This paper presents a novel, analytical approach to solving inverse kinematics for multi-section continuum robots, defined as robots composed of a continuously bendable backbone. The problem is decomposed into several simpler subproblems. First, this paper presents a solution to the inverse kinematics problem for a single-section trunk. Assuming endpoints for all sections of a multi-section trunk are known, this paper then details applying single-section inverse kinematics to each section of the multi-section trunk by compensating for the resulting changes in orientation. Finally, an approach which computes per-section endpoints given only a final-section endpoint provides a complete solution to the multi-section inverse kinematics problem. The results of implementing these algorithms in simulation and on a prototype continuum robot are presented and possible applications discussed. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009
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