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http://dx.doi.org/10.3795/KSME-A.2015.39.4.361

Development of an Intrinsic Continuum Robot and Attitude Estimation of Its End-effector Based on a Kalman Filter  

Kang, Chang Hyun (Dept. of Mechanical Engineering, Hannam Univ.)
Bae, Ji Hwan (Dept. of Mechanical Engineering, Hannam Univ.)
Kang, Bong Soo (Dept. of Mechanical Engineering, Hannam Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.39, no.4, 2015 , pp. 361-367 More about this Journal
Abstract
This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.
Keywords
Continuum Robot; Kalman Filter; Attitude Estimation; Machine Vision; Pneumatic Artificial Muscle;
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