Vision-Based Shape Reconstruction of Soft Continuum Arms Using a Geometric Strain Parametrization

Ali AlBeladi, Girish Krishnan, Mohamed Ali Belabbas, Seth Andrew Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Interest in soft continuum arms has increased as their inherent material elasticity enables safe and adaptive interactions with the environment. However to achieve full autonomy in these arms, accurate three-dimensional shape sensing is needed. Vision-based solutions have been found to be effective in estimating the shape of soft continuum arms. In this paper, a vision-based shape estimator that utilizes a geometric strain based representation for the soft continuum arm's shape, is proposed. This representation reduces the dimension of the curved shape to a finite set of strain basis functions, thereby allowing for efficient optimization for the shape that best fits the observed image. Experimental results demonstrate the effectiveness of the proposed approach in estimating the end effector with accuracy less than the soft arm's radius. Multiple basis functions are also analyzed and compared for the specific soft continuum arm in use.

Original languageEnglish (US)
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages11753-11759
Number of pages7
ISBN (Electronic)9781728190778
DOIs
StatePublished - 2021
Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: May 30 2021Jun 5 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period5/30/216/5/21

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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