Title :
User interfaces for continuum robot arms
Author :
Csencsits, M. ; Jones, Bryan A. ; McMahan, William ; Iyengar, Vikram ; Walker, Ian D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
This paper presents new results for intuitive teleoperation of continuous backbone "continuum" robot manipulators. Continuum robots present unique challenges due to the nonintuitive (to humans) nature of their basic movements. We present a series of mappings, at both position and velocity levels, which provide human operators with a versatile and intuitive suite of options for joystick control of continuum robots. Results from implementations on two types of continuum manipulator hardware are summarized.
Keywords :
interactive devices; manipulators; telerobotics; user interfaces; continuum manipulator hardware; continuum robot arms; intuitive teleoperation; joystick control; robot manipulator; user interface; Actuators; Contracts; Hardware; Humans; Manipulators; Robot control; Robot kinematics; Robot sensing systems; Spine; User interfaces; Continuum manipulators; biologically inspired robots; tentacle; trunk; user interface;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545434
