Dimensionality reduction in controlling articulated snake robot for endoscopy under dynamic active constraints

IEEE Transactions on Robotics

Volumn 29, Issue 1, 2013, Pages 15-31

  Kwok, Ka Wai ^a   Hung Tsoi, Kuen ^a   Vitiello, Valentina ^a   Clark, James ^a   Chow, Gary C T ^a   Luk, Wayne ^a   Yang, Guang Zhong ^a  

^a IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

Dynamic active constraints (DACs); haptic interaction; hyper redundant robot; proximity queries (PQs); snake robot

Indexed keywords

ACTIVE CONSTRAINTS; HAPTIC INTERACTIONS; HYPER-REDUNDANT ROBOT; PROXIMITY QUERIES; SNAKE ROBOTS;

DYNAMIC RESPONSE; ENDOSCOPY; REAL TIME CONTROL; REDUNDANT MANIPULATORS; TISSUE;

ROBOTS;

EID: 84873432807     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2012.2226382     Document Type: Article

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