Magnetic-field-inspired Navigation for Soft Continuum Manipulator
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Pagination
168 - 173
Publisher
ISBN-13
9781538680940
DOI
10.1109/IROS.2018.8593592
ISSN
2153-0858
Metadata
Show full item recordAbstract
Taking inspiration from the properties of magnetic fields, we propose a reactive navigation method for soft continuum manipulators operating in unknown environments. The proposed navigation method outperforms previous works since it is able to successfully achieve collision-free movements towards the goal in environments with convex obstacles without relying on a priori information of the obstacles' shapes and locations. Simulations for the kinematic model of a soft continuum manipulator and preliminary experiments with a 2-segments soft continuum arm are performed, showing promising results and the potential for our approach to be applied widely.