0
Design Innovation Paper

Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators

[+] Author and Article Information
Chase G. Frazelle

Mechatronics Laboratory,
Department of Electrical and Computer Engineering,
Clemson University,
Clemson, SC 29630
e-mail: cfrazel@clemson.edu

Apoorva Kapadia

Department of Electrical and Computer Engineering,
Clemson University,
Clemson, SC 29630
e-mail: akapadi@clemson.edu

Ian Walker

Department of Electrical and Computer Engineering,
Clemson University,
Clemson, SC 29630
e-mail: iwalker@clemson.edu

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 22, 2017; final manuscript received January 17, 2018; published online February 5, 2018. Editor: Venkat Krovi.

J. Mechanisms Robotics 10(2), 025005 (Feb 05, 2018) (8 pages) Paper No: JMR-17-1317; doi: 10.1115/1.4039075 History: Received September 22, 2017; Revised January 17, 2018

We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted degrees-of-freedom (DoF), a kinematically similar input device capable of 9DoF is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the teleoperation of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.

FIGURES IN THIS ARTICLE
<>
Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Niemeyer, G. , Preusche, C. , and Hirzinger, G. , 2008, Telerobotics, Springer, Berlin. [CrossRef]
Hokayem, P. F. , and Spong, M. W. , 2006, “ Bilateral Teleoperation: An Historical Survey,” Automatica, 42(12), pp. 2035–2057. [CrossRef]
Robinson, G. , and Davies, J. , 1999, “ Continuum Robots—A State of the Art,” IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, May 10–15, pp. 2849–2854.
Webster , R., III , and Jones, B. A. , 2010, “ Design and Modeling of Constant Curvature Continuum Robots,” Int. J. Rob. Res., 29(13), pp. 1661–1683. [CrossRef]
Trivedi, D. , Rahn, C. , Kier, W. , and Walker, I. , 2008, “ Soft Robotics: Biological Inspiration, State of the Art, and Future Research,” Appl. Bionics Biomech., 5(2), pp. 99–117. [CrossRef]
Walker, I. , 2013, “ Continuous Backbone ‘Continuum’ Robot Manipulators: A Review,” ISRN Rob., 2013(1), pp. 1–19.
Butler, E. , Hammond-Oakley, R. , Chawarski, S. , Gosline, A. , Codd, P. , Anor, T. , Madsen, J. , Dupont, P. , and Lock, J. , 2012, “ Robotic Neuro-Endoscope With Concentric Tube Augmentation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, Oct. 7–12, pp. 2941–2946.
Chen, Y. , Liang, J. , and Hunter, I. , 2014, “ Modular Continuum Robotic Endoscope Design and Path Planning,” IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31–June 7, pp. 5393–5398.
Buckingham, R. , 2002, “ Snake Arm Robots,” Ind. Rob.: Int. J., 29(3), pp. 242–245. [CrossRef]
Monapi, M. , Godage, I. S. , Vijaykumar, A. M. , and Walker, I. , 2015, “ A Novel Continuum Robotic Cable Aimed at Applications in Space,” Adv. Rob., 29(13), pp. 861–875. [CrossRef]
Laschi, C. , Mazzolai, B. , Mattoli, V. , Cianchetti, M. , and Dario, P. , 2009, “ Design of a Biomimetic Robotic Octopus Arm,” Bioinspiration Biomimetics, 4(1), p. 015006.
Mahl, T. , Hildebrandt, A. , and Sawodny, O. , 2014, “ A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant,” IEEE Trans. Rob., 30(4), pp. 935–949. [CrossRef]
Jones, B. , and Walker, I. , 2006, “ Kinematics of Multisection Continuum Robots,” IEEE Trans. Rob., 22(1), pp. 43–57. [CrossRef]
Mochiyama, H. , and Kobayashi, H. , 1999, “ The Shape Jacobian of a Manipulator With Hyper Degrees of Freedom,” IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, May 10–15, pp. 2837–2842.
Gravagne, I. , and Walker, I. D. , 2002, “ Manipulability, Force, and Compliance Analysis for Planar Continuum Manipulators,” IEEE Trans. Rob. Autom., 18(3), pp. 263–273. [CrossRef] [PubMed]
Jones, B. , and Walker, I. , 2004, “ A New Approach to Jacobian Formulation for a Class of Multi-Section Continuum Robots,” IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, Apr. 18–22, pp. 3279–3284.
Jones, B. A. , McMahan, W. , and Walker, I. D. , 2004, “ Design and Analysis of a Novel Pneumatic Manipulator,” IFAC Symposium on Mechatronic Systems, Sydney, Australia, Sept. 6–8, pp. 745–750.
Gallot, G. , Ibrahimand, O. , and Khalil, W. , 2007, “ Dynamic Modeling and Simulation of a 3-D Hybrid Structure Eel-Like Robot,” IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, Apr. 10–14, pp. 1486–1491.
Kang, R. , Kazakidi, A. , Guglielmino, E. , Branson, D. , Tsakiris, D. , Ekaterinaris, J. , and Caldwell, D. , 2011, “ Dynamic Model of a Hyper-Redundant Octopus-Like Manipulator for Underwater Applications,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, Sept. 25–30, pp. 4054–4059.
Marchese, A. , Tedrake, R. , and Rus, D. , 2015, “ Dynamics and Trajectory Optimization for a Soft Spatial Fluidic Elastomer Manipulator,” IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 26–30, pp. 2528–2535.
Tatlicioglu, E. , Walker, I. , and Dawson, D. , 2007, “ Dynamic Modeling for Planar Extensible Continuum Robot Manipulators,” Int. J. Rob. Autom., 24(4), pp. 1087–1099.
Conrad, B. , and Zinn, M. , 2015, “ Closed Loop Task Space Control of an Interleaved Continuum Rigid Manipulator,” IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 26–30, pp. 1743–1750.
Goldman, R. , Bajo, A. , and Simaan, N. , 2014, “ Compliant Motion Control for Multisegment Continuum Robots With Actuation Force Sensing,” IEEE Trans. Rob., 30(4), pp. 890–902. [CrossRef]
Kapadia, A. , Fry, K. , and Walker, I. , 2014, “ Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators,” IEEE International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, Sept. 14–18, pp. 329–335.
Sadati, S. , Noh, Y. , Naghibi, S. , and Althoefer, A. , 2015, “ Stiffness Control of Soft Robotic Manipulators for Minimally Invasive Surgery (MIS) Using Scale Jamming,” International Conference on Robotics and Automation (ICIRA), Portsmouth, UK, Aug. 24–27, pp. 141–151.
Yip, M. , and Camarillo, D. , 2014, “ Model-Less Feedback Control of Continuum Manipulators in Constrained Environments,” IEEE Trans. Rob., 30(4), pp. 880–888. [CrossRef]
Csencsits, M. , Jones, B. , and McMahan, W. , 2005, “ User Interfaces for Continuum Robot Arms,” IEEE International Conference on Intelligent Robots and Systems, pp. 3011–3018.
Kapadia, A. , Walker, I. , and Tatlicioglu, E. , 2012, “ Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master,” IEEE International Conference on Intelligent Robots and Systems (IROS), Edmonton, AB, Canada, Aug. 2–6, pp. 3105–3110.
Frazelle, C. , Kapadia, A. , Fry, K. , and Walker, I. , 2016, “ Teleoperation Mappings From Rigid Link Robots to Their Extensible Continuum Counterparts,” IEEE International Conference on Robotics and Automation (IROS), Vilamoura, Portugal, Oct. 7–12, pp. 4093–4100.
Frazelle, C. , Kapadia, A. , and Walker, I. , 2017, “Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators,” ASME Paper No. DETC2017-67321.
Hannan, M. , and Walker, I. , 2003, “ Kinematics and the Implementation of an Elephant Trunk Manipulator and Other Continuum Style Robots,” J. Rob. Syst., 20(2), pp. 45–63. [CrossRef]
Grissom, M. , Chitrakaran, V. , Dienno, D. , Csencsits, M. , Pritts, M. , Jones, B. , McMahan, W. , Dawson, D. , Rahn, C. , and Walker, I. , 2006, “ Design and Experimental Testing of the OctArm Soft Robot Manipulator,” Proc. SPIE, 6230, pp. 109–114.
Wooten, M. B. , and Walker, I. D. , 2015, “A Novel Vine-Like Robot for In-Orbit Inspection,” International Conference on Environmental Systems, Bellevue, WA, July 12–16, Paper No. 21.
Quanser, 2015, “Q8-USB Data Acquisition Board,” Quanser, Markham, ON, Canada, accessed Jan. 29, 2018, http://www.quanser.com/products/q8-usb
MathWorks, 2016, “Simulation and Model Based Design,” The MathWorks Inc., Natick, MA, accessed Jan. 29, 2018, http://www.mathworks.com/products/simulink

Figures

Grahic Jump Location
Fig. 1

MiniOct continuum input device

Grahic Jump Location
Fig. 2

Cross section of push tab system

Grahic Jump Location
Fig. 3

Acrylic spacer for base section of MiniOct

Grahic Jump Location
Fig. 4

Basic operation of single MiniOct section

Grahic Jump Location
Fig. 5

Ring of string pots for determining configuration

Grahic Jump Location
Fig. 6

Correlation of base, middle, and tip sections

Grahic Jump Location
Fig. 7

Configurations between MiniOct and OctArm manipulator with local coordinate frames: (a) curving tip section (i), (b) curving tip section (ii), (c) curving middle section, and (d) two section manipulation

Grahic Jump Location
Fig. 8

Three section teleoperation of pneumatic continuum manipulator

Grahic Jump Location
Fig. 9

MiniOct to Tendril mapping

Grahic Jump Location
Fig. 10

Configurations between MiniOct and Tendril manipulator with local coordinate frames: (a) curving middle section (i), (b) curving middle section (ii), (c) curving base and middle section, and (d) three section manipulation

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In