DocumentCode
2601004
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
fYear
2005
fDate
2-6 Aug. 2005
Firstpage
3123
Lastpage
3130
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8912-3
Type
conf
DOI
10.1109/IROS.2005.1545434
Filename
1545434
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