Modeling, estimation, and control for navigation of flexible continuum robots
Abstract/Contents
- Abstract
- Continuum manipulators are robots with long, slender, and flexible bodies that can be deformed into smooth three-dimensional curves. Their snake-like shape and intrinsic compliance make continuum manipulators useful for applications that require movement through unstructured and constrained environments. Examples include search-and-rescue, confined space inspection, and minimally invasive surgery. This dissertation addresses navigation of a flexible continuum robot to a target location. Because of the body's flexibility, accurate mechanics-based models of continuum manipulator motion are sensitive to physical parameters that must be experimentally determined and may change with time. Further, contact with the environment which is often unknown, can significantly affect the accuracy of these models. Because of these difficulties, this thesis focuses on simple, empirical models that are coupled with conservative control methods that are robust to model inaccuracy. These techniques are demonstrated on three different continuum robots: a minimally invasive surgical instrument known as a steerable needle, and two types of soft continuum robots that grow from the tip. Contributions of the thesis include (1) a new estimation method for continuum robot state, (2) design, modeling, and control of a new soft continuum robot that extends by growing from its tip, and (3) a kinematic model and planner for interactions between a soft growing robot and its environment.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2018; ©2018 |
| Publication date | 2018; 2018 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Greer, Joseph |
|---|---|
| Degree supervisor | Okamura, Allison |
| Thesis advisor | Okamura, Allison |
| Thesis advisor | Gerdes, J. Christian |
| Thesis advisor | Schwager, Mac |
| Degree committee member | Gerdes, J. Christian |
| Degree committee member | Schwager, Mac |
| Associated with | Stanford University, Department of Mechanical Engineering. |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Joseph Greer. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis Ph.D. Stanford University 2018. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2018 by Joseph Davis Greer
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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