User interfaces for continuum robot arms

被引：18

作者：

Csencsits, M ^{[1
]}

Jones, BA ^{[1
]}

McMahan, W ^{[1
]}

Iyengar, V ^{[1
]}

Walker, ID ^{[1
]}

机构：

[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

continuum manipulators; user interface; trunk; tentacle; biologically inspired roboft;

D O I：

10.1109/IROS.2005.1545434

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents new results for intuitive teleoperation of continuous backbone "continuum" robot manipulators. Continuum robots present unique challenges due to the nonintuitive (to humans) nature of their basic movements. We present a series of mappings, at both position and velocity levels, which provide human operators with a versatile and intuitive suite of options for joystick control of continuum robots. Results from implementations on two types of continuum manipulator hardware are summarized.

引用

页码：3011 / 3018

页数：8

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