Estimating the configuration of a continuum dexterous manipulator with variable curvature bending using partial shape-sensing.
Ryan J. MurphyMehran ArmandPublished in: EMBC (2015)
Keyphrases
- shape representation
- degrees of freedom
- planar curves
- multiscale
- shape retrieval
- intensity profile
- shape model
- chain code
- geometrical properties
- differential geometry
- high curvature
- configuration space
- vision system
- real time
- shape analysis
- sensor networks
- unstructured environments
- control system
- shape matching
- inverse kinematics
- path planning
- arc length
- gaussian curvature
- computer controlled
- articulated objects
- position and orientation
- shape descriptors