Method and system for contact detection and contact localization along continuum robots

摘要

A robotic system and methods for manipulation of multi-segment continuum robots. The methods relate to contact detection and estimation of contact location along a multi-segment continuum robot.

主权项

1. A method for collision detection along a continuum robot, the method comprising:
inserting a portion of the continuum robot into a cavity or operating the continuum robot among obstacles, the continuum robot including a plurality of independent segments; detecting contact between the robot and a wall of the cavity or surrounding obstacles; determining in which one of the segments of the robot the contact occurred; and moving the robot such that the segment determined to be in contact with the wall of the cavity moves laterally out of contact with the wall of the cavity in real-time after contact with the wall of the cavity is detected without retracting the continuum robot from the cavity.