Toward vision-based adaptive configuring of a bidirectional two-segment soft continuum manipulator

Jiewen Lai, Kaicheng Huang, Bo Lu, Henry K. Chu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

In soft robotics, developing an effective way of robot-environment interaction is a challenging task due to the soft nature of the material that makes the manipulator. This paper demonstrates a vision-based approach to configure a two-segment soft continuum robot manipulator into an user-defined configuration and interact with unknown objects on plane. The soft robot manipulator actuated by cable-driven mechanism, is composed of two cascade continuum segments which are made from poly-dimethyl-siloxane (PDMS). The overall robot configuration can be determined in a point-wise manner on image plane provided by an eye-to-hand system. One can define the end-effectors' location on the visual system to re-shape the manipulator. The visual servoing fashion allows the robot to optimize its posture to its best fit without developing any complicated model. Experiments on prototype indicate that the proposed model-free approach can be well employed, even when the manipulator is bearing a payload. By adaptively adjusting manipulator's stiffness to a quasi-deadlock status, the payload capacity is up to nearly 6 times of the manipulator's mass itself.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages934-939
Number of pages6
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - Jul 2020
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: 6 Jul 20209 Jul 2020

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Country/TerritoryUnited States
CityBoston
Period6/07/209/07/20

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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