| dc.contributor.author | Ataka, A | |
| dc.contributor.author | Shiva, A | |
| dc.contributor.author | Lam, HK | |
| dc.contributor.author | Althoefer, K | |
| dc.date.accessioned | 2021-02-04T14:03:35Z | |
| dc.date.available | 2021-02-04T14:03:35Z | |
| dc.date.issued | 2018-12-27 | |
| dc.identifier.isbn | 9781538680940 | |
| dc.identifier.issn | 2153-0858 | |
| dc.identifier.uri | https://qmro.qmul.ac.uk/xmlui/handle/123456789/70113 | |
| dc.description.abstract | 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. | en_US |
| dc.format.extent | 168 - 173 | |
| dc.publisher | IEEE | en_US |
| dc.title | Magnetic-field-inspired Navigation for Soft Continuum Manipulator | en_US |
| dc.type | Conference Proceeding | en_US |
| dc.rights.holder | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |
| dc.identifier.doi | 10.1109/IROS.2018.8593592 | |
| pubs.notes | Not known | en_US |
| pubs.publication-status | Published | en_US |
| rioxxterms.funder | Default funder | en_US |
| rioxxterms.identifier.project | Default project | en_US |
| qmul.funder | National Centre for Nuclear Robotics::Engineering and Physical Sciences Research Council | en_US |
