Development and Stability Analysis of an Imitation Learning-Based Pose Planning Approach for Multi-Section Continuum Robot

Ibrahim A. Seleem*, Haitham El-Hussieny, Samy F.M. Assal, Hiroyuki Ishii

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


Recently, continuum flexible robots have been designed for the use in diverse applications; including the exploration of confined static and dynamic environments. One of the challenging tasks for those robots is planning optimal trajectories due to, not only the redundant Degrees of Freedom (DOF) they own but also their compliant behaviour. In this paper, an Imitation-based Pose Planning (IbPP) approach is proposed to teach a two-section continuum robot the motion primitives that will facilitate achieving and generalizing for spatial point-to-point motion which involves both position and orientation goals encoded in a dual quaternion form. Two novel approaches are proposed in this research to intuitively generate the motion demonstrations that will be used in the proposed IbPP. Namely, a flexible input interface, acting as a twin robot, is designed to allow a human to demonstrate different motions for the robot end-effector. Alternatively, as a second approach, the Microsoft Kinect sensor is used to provide motion demonstrations faster via human arm movements. Based on the kinematic model of the two-section continuum robot, a Model Reference Adaptive Control (MRAC) algorithm is developed to achieve tracking the generated trajectory from the IbPP and to guarantee the robustness against the model uncertainties and external disturbances. Moreover, controller stability analysis is developed based on Lyapunov criteria. Finally, simulations are conducted for the two-section continuum robot to prove the ability of the proposed IbPP with the two proposed inputs to learn and generalize for spatial motions, which in future could be easily accommodated for robots with multiple sections. In addition, the proposed MRAC shows a significant performance towards following the required trajectory and rejecting the external disturbance.

Original languageEnglish
Article number9099824
Pages (from-to)99366-99379
Number of pages14
JournalIEEE Access
Publication statusPublished - 2020


  • Continuum robot
  • kinect sensor
  • kinematic control
  • kinematic modeling
  • motion planning

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)
  • Electrical and Electronic Engineering


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