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Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator

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Towards Autonomous Robotic Systems (TAROS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11649))

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Abstract

In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is exploited to help the actuators stay under their maximum capability. The navigation algorithm is shown to outperform the potential-field-based navigation in its ability to smoothly and reactively avoid obstacles and reach the goal in simulation scenarios.

This work was supported in part by King’s College London, the EPSRC in the framework of the NCNR (National Centre for Nuclear Robotics) project (EP/R02572X/1), q-bot led project WormBot (2308/104059), and the Indonesia Endowment Fund for Education, Ministry of Finance Republic of Indonesia.

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Authors and Affiliations

  1. The Centre for Robotics Research (CoRe), Department of Informatics, King’s College London, London, WC2R 2LS, UK

    Ahmad Ataka

  2. The Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, Mile End Road, London, E1 4NS, UK

    Ahmad Ataka, Jelizaveta Konstantinova & Kaspar Althoefer

  3. The Department of Computer Science, University College London, London, WC1E 7JE, UK

    Agostino Stilli

  4. The Department of Mechanical Engineering, University College London, London, WC1E 7JE, UK

    Helge A. Wurdemann

Authors
  1. Ahmad Ataka
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  2. Agostino Stilli
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  3. Jelizaveta Konstantinova
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  4. Helge A. Wurdemann
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  5. Kaspar Althoefer
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Corresponding author

Correspondence to Ahmad Ataka .

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Editors and Affiliations

  1. Queen Mary University of London, London, UK

    Kaspar Althoefer

  2. Queen Mary University of London, London, UK

    Jelizaveta Konstantinova

  3. Queen Mary University of London, London, UK

    Ketao Zhang

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Ataka, A., Stilli, A., Konstantinova, J., Wurdemann, H.A., Althoefer, K. (2019). Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_5

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  • DOI: https://doi.org/10.1007/978-3-030-23807-0_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-23806-3

  • Online ISBN: 978-3-030-23807-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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