[1]谢世鹏,倪风雷,王海荣,等.连续体机器人形状检测方法综述[J].机械与电子,2015,(08):68-71.
　XIE Shipeng,NI Fenglei,WANG Hairong,et al.An Overview of Research on Configuration Detection of Continuum Robots[J].Machinery & Electronics,2015,(08):68-71.
点击复制

连续体机器人形状检测方法综述
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年08期
页码:
68-71
栏目:
智能工程
出版日期:
2015-08-26

文章信息/Info

Title:
An Overview of Research on Configuration Detection of Continuum Robots
文章编号:
1001-2257(2015)08-0068-04
作者:
谢世鹏; 倪风雷; 王海荣; 金明河
(哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001)
Author(s):
XIE Shipeng;  NI Fenglei;  WANG Hairong; JIN Minghe
(State Key Laboratory of Robotics and System, Harbin Institute of Technology,Harbin 150001,China)
关键词:
连续体机器人;  视觉;  智能材料;  光纤光栅
Keywords:
continuum robot;  vision;  smart material;  fiber grating
分类号:
TP241.3
文献标志码:
A
摘要:
综述了连续体机器人形状检测的不同方法,并对各种研究方法进行了分析比较,最后指出基于视觉、智能材料或者光纤光栅的单一检测方法和结合多种传感器的复合方法是未来的发展方向。
Abstract:
This paper presents different methods of detection for continuum robot configuration. It analyzes and compares these research methods and concludes that a single method based on vision, smart materials or fiber grating combined with at least one sensor will be the direction of future development.

参考文献/References:

[1] 赵强, 岳永恒. 仿生连续体机器人的研究现状和展望[J]. 机械科学与技术, 2009, 26(8):1-6.
[2] Hannan M W, Walker I D. Real-time shape estimation for continuum robots using vision[J]. Robotica, 2005, 23(05): 645-651.
[3] Degani A, Choset H, Wolf A, et al. Highly articulated robotic probe for minimally invasive surgery[C]//Robotics and Automation(ICRA). 2006 IEEE International Conference on. IEEE, 2006: 4167-4172.
[4] Robinson G, Davies J B C. Continuum robots-a state of the art[C]//Robotics and Automation(ICRA), 1999 IEEE International Conference on. IEEE, 1999: 2849-2854.
[5] Webster R J, Jones B A. Design and kinematic modeling of constant curvature continuum robots: A review[J]. The International Journal of Robotics Research, 2010,29(13):1661-1683
[6] Shapiro Y,Kosa G, Wolf A. Shape tracking of planar hyper-flexible beams via embedded PVDF deflection sensors[J]. Mechatronics, IEEE/ASME Transactions. 2014,19(4):1260-1267.
[7] Camarillo D B, Loewke K E, Carlson C R, et al. Vision based 3-D shape sensing of flexible manipulators[C]//Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on. IEEE, 2008: 2940-2947.
[8] Croom J M, Rucker D C, Romano J M, et al. Visual sensing of continuum robot shape using self-organizing maps[C]//Robotics and Automation(ICRA), 2010 IEEE International Conference on. IEEE, 2010: 4591-4596.
[9] 张新霞,郭东洲. 智能材料与结构的研究进展. 结构强度研究[J],2001(3):44-45.
[10] 刘俊聪, 王丹勇, 李树虎,等. 智能材料设计技术及应用研究进展[J]. 航空制造技术, 2014(1):130-133.
[11] Chen Z, Shen Y,Xi N, Tan X. Integrated sensing for ionic polymer-metal composite actuators using PVDF thin films[J]. Smart Materials and Structures, 2007(16):262-271.
[12] Yamakita M, Sera A, Kamamichi N, et al. Integrated design of IPMC actuator/sensor[C]// Robotics and Automation(ICRA), 2006 IEEE International Conference on. IEEE, 2006: 1834-1839.
[13] Bahramzadeh Y, Shahinpoor M. Dynamic curvature sensing employing ionic-polymer-metal composite sensors[J]. Smart Materials and Structures, 2011(20), 094011.
[14] Davis M A, Kersey A D, Sirkis J, et al. Shape and vibration mode sensing using a fiber optic Bragg grating array[J]. Smart Materials and Structures. 1996(6): 759-765.
[15] Roesthuis R J, Kemp M, van den Dobbelsteen J J, et al. Three-dimensional needle shape reconstruction using an array of fiber bragg grating sensors[J]. Mechatronics, IEEE/ASME Transactions on, 2014, 19(4): 1115-1126.
[16] Abayazid M, Kemp M, Misra S. 3D flexible needle steering in soft-tissue phantoms using fiber bragg grating sensors[C]//Robotics and Automation(ICRA), 2013 IEEE International Conference on. IEEE, 2013: 5843-5849.
[17] 李尧,赵鸿,朱辰,等. 光纤光栅技术综述[J]. 激光与红外,2006:749-754.006(2):177-182.
[18] 姜德生,信思金. 光纤光栅智能混凝土材料与结构试验技术的研究[J]. 中国水泥,2004(8):57-59.
[19] 李志全,汤敬,许明妍,等. 分布式光纤光栅传感网络的复用解调技术[J]. 光电子技术与信息,2005(2):53-58.
[20] 樊红朝,钱晋武,章亚男,等. 大型柔性曲面振动智能检测[J]. 机械工程学报,2008(7):202-20.

备注/Memo

备注/Memo:
收稿日期:2015-05-06
基金项目:国家973计划资助项目(973-2013CB733103); 新世纪优秀人才支持计划资助(NCET-10-0058)。
作者简介:谢世鹏(1989—),男,云南昆明人,硕士研究生,研究方向为连续体机器人技术,机器视觉; 倪风雷(1975—),男,山东日照人,博士,副教授,研究方向为空间机器人技术; 王海荣(1986—),男,黑龙江庆安人,博士研究生,研究方向为连续体机器人技术,多指头灵巧手; 金明河(1970—),男,黑龙江哈尔滨人,博士,教授。
更新日期/Last Update: 2015-08-26