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Six DoF Pose Estimation of a Tendon-Driven Contrinuum Mechanism without a Deformation Model

Deutschmann, Bastian and Chalon, Maxime and Reinecke, Jens and Maier, Maximilian and Ott, Christian (2019) Six DoF Pose Estimation of a Tendon-Driven Contrinuum Mechanism without a Deformation Model. IEEE Robotics and Automation Letters, 4 (4), pp. 3418-3425. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2927943. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8758878


In recent years, the application of continuum mech- anisms increased as they provide high dexterity, consume a low amount of space, and handle unforeseen collisions with ease. Typi- cally, a deformation model of the continuum is applied to compute task space poses from actuator variables. However, simple models usually lack accuracy, whereas accurate models are computation- ally demanding. This letter deals with the pose estimation problem for a continuum mechanism based on length sensors without using a deformation model. A subset of the sensors belongs to the actuating tendons with a fixed routing, whereas the rest of the length sensors can be placed freely. Two major issues are discussed. At first, a sensor placement strategy based on the coupling matrix is derived and discussed, which improves the observability for static pose estimation. Second, the feasibility of a sensor fusion between an inertial measurement unit and the length sensors to enhance the pose estimation is presented. Both investigations are done experi- mentally on DAVID. By placing the additional sensors correctly, the maximum estimation error can be lowered by 50% in comparison to poorly placed sensors.

Item URL in elib:https://elib.dlr.de/132653/
Document Type:Article
Title:Six DoF Pose Estimation of a Tendon-Driven Contrinuum Mechanism without a Deformation Model
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Deutschmann, Bastianbastian.deutschmann (at) dlr.dehttps://orcid.org/0000-0002-9139-5719
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Reinecke, JensJens.Reinecke (at) dlr.dehttps://orcid.org/0000-0001-9256-0766
Maier, Maximilianmaximilian.maier (at) dlr.dehttps://orcid.org/0000-0003-1502-696X
Ott, Christianchristian.ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:July 2019
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2019.2927943
Page Range:pp. 3418-3425
EditorsEmailEditor's ORCID iD
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliant joint/mechanism, soft material robotics, sensor fusion
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Deutschmann, Bastian
Deposited On:13 Dec 2019 10:24
Last Modified:14 Dec 2019 04:23

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