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http://dx.doi.org/10.5302/J.ICROS.2015.14.0120

Vision-based Kinematic Modeling of a Worm's Posture  

Do, Yongtae (Department of Electronic & Electrical Engineering, Daegu University)
Tan, Kok Kiong (Department of Electrical & Computer Engineering, National University of Singapore)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.3, 2015 , pp. 250-256 More about this Journal
Abstract
We present a novel method to model the body posture of a worm for vision-based automatic monitoring and analysis. The worm considered in this study is a Caenorhabditis elegans (C. elegans), which is popularly used for research in biological science and engineering. We model the posture by an open chain of a few curved or rigid line segments, in contrast to previously published approaches wherein a large number of small rigid elements are connected for the modeling. Each link segment is represented by only two parameters: an arc angle and an arc length for a curved segment, or an orientation angle and a link length for a straight line segment. Links in the proposed method can be readily related using the Denavit-Hartenberg convention due to similarities to the kinematics of an articulated manipulator. Our method was tested with real worm images, and accurate results were obtained.
Keywords
worm; Caenorhabditis elegans (C. elegans); robot kinematics; Denavit-Hartenberg convention; posture modeling;
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Times Cited By KSCI : 1  (Citation Analysis)
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