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Adaptive Helical Rolling of a Snake Robot to a Straight Pipe With Irregular Cross-Sectional Shape.
Tatsuya Takemori
Motoyasu Tanaka
Fumitoshi Matsuno
Published in:
IEEE Trans. Robotics (2023)
Keyphrases
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cross sectional
cross section
ct scans
cross sections
mobile robot
blood vessels
mri data
active contours
shape model
similarity measure
b spline
active contour model
shape prior
computed tomography
energy function
x ray
sufficient conditions
state space
multiresolution