Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
Tim-Lukas Habich,Melvin Hueter,Moritz Schappler,Svenja Spindeldreier,Tim-Lukas Habich,Melvin Hueter,Moritz Schappler,Svenja Spindeldreier
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees of freedom. Our work addresses this by presenting a unified telemanipulation strategy which enables follow-the-leader locomotion and reorientation keeping the ...
