Kinematics-based detection and localization of contacts along multisegment continuum robots

IEEE Transactions on Robotics

Volumn 28, Issue 2, 2012, Pages 291-302

  Bajo, Andrea ^a   Simaan, Nabil ^a  

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

Collision detection; continuum robots; estimation of contact; screw theory

Indexed keywords

COLLISION DETECTION; CONFINED SPACE; CONTACT DETECTION; CONTACT LOCATION; CONTINUUM ROBOT; DETECTION AND LOCALIZATION; KINEMATIC MODEL; KINEMATICS MODELS; MULTI-SEGMENT; MULTIPLE COLLISIONS; RELATIVE MOTION; RIGID ENVIRONMENT; SCREW AXIS; SCREW MOTION; SCREW THEORY; SENSOR DATA; SENSORY INFORMATION; SINGLE-COLLISION; UNSTRUCTURED ENVIRONMENTS;

KINEMATICS; MATHEMATICAL MODELS; SCREWS;

ROBOTS;

EID: 84859753482     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2175761     Document Type: Article

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