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• W2806698908 abstract "Soft variable-length continuum manipulators have emerged as ideal agents in common human interaction scenarios owing to their flexible movements, large workspace and safety assurance. Besides, it’s also their variable-length property that leads to a much larger configuration space, which makes it more difficult to solve the motion planning problem using state-of-the-art sampling-based methods. In this paper, we propose an algorithm that fully exploits the variable-length property of these manipulators. The algorithm directly generates and selects feasible configuration nodes in task space. Before that, a path of the manipulator’s end effector is pre-generated in task space according to the positions of the goal and obstacles, which provides approximately accurate guiding direction of the whole manipulator. During the simulation experiments, the two-level algorithm is validated with efficiency in comparison of Jacobian-based methods and other extensional tasks." @default.
• W2806698908 created "2018-06-13" @default.
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• W2806698908 date "2018-05-31" @default.
• W2806698908 modified "2023-09-28" @default.
• W2806698908 title "A Two-Level Approach to Motion Planning of Soft Variable-Length Manipulators" @default.
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• W2806698908 doi "https://doi.org/10.1007/978-3-319-78452-6_34" @default.
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