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About this paper
Chengnan Shentu, Nicholas Baldassini, Oluwagbotemi D. Iseoluwa, Radian Gondokaryono, Jessica Burgner-Kahrs
A sampling-based motion planning framework addresses Follow-the-Leader (FTL) motion for continuum robots mounted on robotic manipulators with full 6-DOF base control. The method achieves 0% tip deviation in simulation and substantially reduces online computation time compared to optimization-based approaches, facilitating FTL for complex real-world scenarios.
Key insights
- Decoupling the global shape search from local base pose determination through a pre-computed library and geometric construction avoids local minima and offers predictable, efficient online planning.
- The closed-form geometric approach to determine the 6-DOF base pose inherently guarantees exact tip tracking, simplifying a critical aspect of FTL planning in high-dimensional spaces.
- The framework's model-agnostic nature allows the use of high-fidelity kinetostatic models by offloading computation to an offline shape library generation phase.
Summary by alphaXiv.
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