Paper Info
Title
Non visual sensor based shape perception method for gait control of flexible colonoscopy robot
Abstract
In this paper, the shape of the medical robot which can move in the colon is suggested for its gate control. In this system, the current shape information plays a sensing role in order to control the gate of robot in the colon. In order to find current shape of robot, we construct sensor network system which composed of several electronic compass units. This unit makes use of chip which includes pair of 3 axis accelerometer and 3 axis magnetometer. From this signals, orientation is evaluated after filtering noise. Then, based on the kinematic chain model, the shape of the flexible robot is calculated using orientation information. The resulting trajectory shows that this method cans percept shape of flexible robot well.
Year
DOI
Venue
2011
10.1109/ROBIO.2011.6181348
ROBIO
Keywords
Field
DocType
medical robotics,kinematic chain model,gait control,robot kinematics,medical robot,flexible colonoscopy robot,flexible robot,accelerometer,noise filtering,magnetometer,shape perception method,orientation,compasses,kinematic chain,electronic compass unit,shape perception,non visual sensor network,accelerometers,gate control,sensors,sensor network system,nonvisual sensor,magnetometers,shape,digital filter,sensor network,chip,digital filters,acceleration
Control engineering,Artificial intelligence,Kinematic chain,Trajectory,Computer vision,Compass,Accelerometer,Simulation,Medical robot,Robot kinematics,Engineering,Cartesian coordinate robot,Robot
Conference
ISBN
Citations 
PageRank 
978-1-4577-2136-6
1
0.42
References 
Authors
6
7
Name
Order
Citations
PageRank
Jaewoo Lee130835.20
Genya Ukawa210.42
Shuna Doho310.42
Zhuohua Lin4457.74
Hiroyuki Ishii513328.33
Massimiliano Zecca625036.68
Atsuo Takanishi71592319.81