Rosi, Emanuele Riccardo und Stölzle, Maximilian und Solari, Fabio und Della Santina, Cosimo (2022) Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM. In: 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022. IEEE. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022-04-04 - 2022-04-08, Edinburgh, United Kingdom. doi: 10.1109/RoboSoft54090.2022.9762199. ISBN 978-1-6654-0828-8.
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Offizielle URL: https://ieeexplore.ieee.org/document/9762199/
Kurzfassung
The nature of continuum soft robots calls for novel perception solutions, which can provide information on the robot's shape while not substantially modifying their bodies' softness. One way to achieve this goal is to develop innovative and completely deformable sensors. However, these solutions tend to be less reliable than classic sensors for rigid robots. As an alternative, we consider here the use of monocular cameras. By admitting a small rigid component in our design, we can leverage well-established solutions from mobile robotics. We propose a shape sensing strategy that combines a SLAM algorithm with nonlinear optimization based on the robot's kinematic model. We prove the method's effectiveness in simulation and with experiments of a single-segment continuous soft robot with a camera mounted to the tip. We achieve mean relative translational errors below 9% simulations and experiments alike, and as low as 0.5% on average for some simulation conditions.
elib-URL des Eintrags: | https://elib.dlr.de/192614/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM | ||||||||||||||||||||
Autoren: |
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Datum: | 28 April 2022 | ||||||||||||||||||||
Erschienen in: | 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1109/RoboSoft54090.2022.9762199 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISBN: | 978-1-6654-0828-8 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Simultaneous localization and mapping, Shape, Robot kinematics, Robot vision systems, Estimation, Kinematics, Soft robotics | ||||||||||||||||||||
Veranstaltungstitel: | 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) | ||||||||||||||||||||
Veranstaltungsort: | Edinburgh, United Kingdom | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 4 April 2022 | ||||||||||||||||||||
Veranstaltungsende: | 8 April 2022 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Multisensorielle Weltmodellierung (RM) [RO], R - Basistechnologien [RO], R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
Hinterlegt am: | 21 Dez 2022 09:29 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:53 |
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