Shape Control of Variable Length Continuum Robots Using Clothoid-Based Visual Servoing
Abhinav Gandhi,Shou-Shan Chiang,Cagdas D. Onal,Berk Calli,Abhinav Gandhi,Shou-Shan Chiang,Cagdas D. Onal,Berk Calli
In this paper, we present a novel clothoid-based visual servoing method for controlling the shape of a variable length continuum manipulator. Clothoids are curves with linearly changing curvature. They allow us to obtain a smooth representation of a continuum manipulator's shape in a compact form with few parameters. Using this curve model, we generate image features that are used in an adaptive v...
