Non visual sensor based shape perception method for gait control of flexible colonoscopy robot

Jaewoo Lee*, Genya Ukawa, Shuna Doho, Zhuohua Lin, Hyroyuki Ishii, Massimiliano Zecca, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
ページ577-582
ページ数6
DOI
出版ステータスPublished - 2011 12月 1
イベント2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
継続期間: 2011 12月 72011 12月 11

出版物シリーズ

名前2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
国/地域Thailand
CityPhuket
Period11/12/711/12/11

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識

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