TY - GEN
T1 - Multiple-Contact Estimation for Tendon-Driven Continuum Robots with Proprioceptive Sensor Information by Contact Particle Filter and Kinetostatic Models
AU - Job, Tim-David
AU - Bensch, Martin
AU - Schappler, Moritz
N1 - ACKNOWLEDGMENT
This work was supported by the German Federal Ministry of Economics and Technology (BMWi) under grant number 20X1718C within the fifth Federal Aviation Research Programme.
PY - 2023/10/1
Y1 - 2023/10/1
N2 - This paper presents a new approach to determine single and multiple simultaneous contact forces on a tendon-driven continuum robot (CR). The estimation is based solely on the proprioceptive tendon force and length sensors that are already present. Unlike for rigid-body robots, only indirect measurements of the external forces' deflection is available. The required full kinetostatic model, which is prone to local minima due to the unknown contacts, is solved with a particle filter. The method is validated by simulative studies and experimental investigations on a new robot setup for visual inspection of aircraft engines. The algorithm allows the estimation of single contacts with an error up to 4.43 mm or 2.9 % of the robot's length. Multiple contacts can only be correctly determined at the two distal of the three segments.
AB - This paper presents a new approach to determine single and multiple simultaneous contact forces on a tendon-driven continuum robot (CR). The estimation is based solely on the proprioceptive tendon force and length sensors that are already present. Unlike for rigid-body robots, only indirect measurements of the external forces' deflection is available. The required full kinetostatic model, which is prone to local minima due to the unknown contacts, is solved with a particle filter. The method is validated by simulative studies and experimental investigations on a new robot setup for visual inspection of aircraft engines. The algorithm allows the estimation of single contacts with an error up to 4.43 mm or 2.9 % of the robot's length. Multiple contacts can only be correctly determined at the two distal of the three segments.
UR - https://www.scopus.com/pages/publications/85182525503
U2 - 10.1109/IROS55552.2023.10341897
DO - 10.1109/IROS55552.2023.10341897
M3 - Conference contribution
SN - 978-1-6654-9191-4
T3 - Proceedings of the International Conference on Intelligent Robots and Systems
SP - 10224
EP - 10231
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 1 October 2023 through 5 October 2023
ER -