TY - GEN
T1 - Real-time adaptive kinematic model estimation of concentric tube robots
AU - Kim, Chunwoo
AU - Ryu, Seok Chang
AU - Dupont, Pierre E.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - Kinematic models of concentric tube robots have matured from considering only tube bending to considering tube twisting as well as external loading. While these models have been demonstrated to approximate actual behavior, modeling error can be significant for medical applications that often call for positioning accuracy of 1-2mm. As an alternative to moving to more complex models, this paper proposes using sensing to adaptively update model parameters during robot operation. Advantages of this method are that the model is constantly tuning itself to provide high accuracy in the region of the workspace where it is currently operating. It also adapts automatically to changes in robot shape and compliance associated with the insertion and removal of tools through its lumen. As an initial exploration of this approach, a recursive on-line estimator is proposed and evaluated experimentally.
AB - Kinematic models of concentric tube robots have matured from considering only tube bending to considering tube twisting as well as external loading. While these models have been demonstrated to approximate actual behavior, modeling error can be significant for medical applications that often call for positioning accuracy of 1-2mm. As an alternative to moving to more complex models, this paper proposes using sensing to adaptively update model parameters during robot operation. Advantages of this method are that the model is constantly tuning itself to provide high accuracy in the region of the workspace where it is currently operating. It also adapts automatically to changes in robot shape and compliance associated with the insertion and removal of tools through its lumen. As an initial exploration of this approach, a recursive on-line estimator is proposed and evaluated experimentally.
UR - http://www.scopus.com/inward/record.url?scp=84958182759&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7353823
DO - 10.1109/IROS.2015.7353823
M3 - Conference contribution
AN - SCOPUS:84958182759
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3214
EP - 3219
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -