PH Model-based Shape Reconstruction of Heterogeneous Continuum Closed Loop Kinematic Chain: An Application to skipping Rope

Inderjeet Singh (1) , Yacine Amara (2) , Othman Lakhal (3) , Achille Melingui (4) , Rochdi Merzouki (3)

1 MOCIS - Méthodes et Outils pour la Conception Intégrée de Systèmes
2 ENP - École nationale polytechnique [Alger, Algérie]
3 LAGIS-MOCIS
4 Electrical and Telecommunications Engineering Department of Ecole Nationale Supérieure Polytechnique, the University of Yaoundé

Soft robotics is a swiftly growing research area these days. Modeling continuum robots accurately is still a demanding field. The paper aims to propose a shape reconstruction method and the estimation of the kinematic behavior of heterogeneous continuum robot in closed loop kinematic configuration, by using Pythagorean Hodograph (PH) curves. The validation of the model approach has been tested on cooperative continuum robots, namely Compact Bionic Handling Arms (CBHA), driving an intermediate flexible rope (a passive flexible link), by using a 3D tracking system. Experimental comparison of the proposed approach with the existing approaches is performed in terms of accuracy as well as the time cost.

Domaines: Automatique / Robotique; Automatique; Robotique [cs.RO]

Inderjeet Singh, Yacine Amara, Othman Lakhal, Achille Melingui, Rochdi Merzouki. PH Model-based Shape Reconstruction of Heterogeneous Continuum Closed Loop Kinematic Chain: An Application to skipping Rope. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2018, Madrid, Spain. ⟨hal-01967031⟩