Closed loop control for a 3D tentacle robot using artificial vision system
Liviu Florin Manta, Sorin Dumitru, Dorian Cojocaru · International Conference on System Theory, Control and Computing · 2011
Nowadays we can observe a grown in interest regarding the robots with high mobility degree, wanted for their capability to avoid obstacles and reach difficult positions in their working space. One particular class of these robots consists in tentacle robots, biologically inspired by cephalopods. Mathematical models and several control structures were presented during the last years, but a major problem remains: how to sense de current robot shape and position, since this class of robots doesn't have discrete joints? A solution to this problem is given by visual servoing systems, and in this paper we will present a novel approach to solve it.