Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy

Ning Tan; Ruikun Hu; Yuyang Wu; Xinyu Zhang; Fenglei Ni; Zhenglong Sun

doi:10.1109/ROBIO54168.2021.9739292

Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy

Ning Tan
, Ruikun Hu
, Yuyang Wu
, Xinyu Zhang^*
, Fenglei Ni^*
, Zhenglong Sun

^*Corresponding author for this work

Software Engineering Institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	475-482
Number of pages	8
ISBN (Electronic)	9781665405355
DOIs	https://doi.org/10.1109/ROBIO54168.2021.9739292
State	Published - 2021
Event	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 - Sanya, China Duration: 27 Dec 2021 → 31 Dec 2021

Publication series

Name	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Conference

Conference	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Country/Territory	China
City	Sanya
Period	27/12/21 → 31/12/21

Access to Document

10.1109/ROBIO54168.2021.9739292

Cite this

Tan, N., Hu, R., Wu, Y., Zhang, X., Ni, F., & Sun, Z. (2021). Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 (pp. 475-482). (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO54168.2021.9739292

Tan, Ning ; Hu, Ruikun ; Wu, Yuyang et al. / Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 475-482 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

@inproceedings{8506745d3688417981af9536858a75c4,

title = "Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy",

abstract = "In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.",

author = "Ning Tan and Ruikun Hu and Yuyang Wu and Xinyu Zhang and Fenglei Ni and Zhenglong Sun",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 27-12-2021 Through 31-12-2021",

year = "2021",

doi = "10.1109/ROBIO54168.2021.9739292",

language = "英语",

series = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "475--482",

booktitle = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

address = "美国",

}

Tan, N, Hu, R, Wu, Y, Zhang, X, Ni, F & Sun, Z 2021, Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy. in 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Institute of Electrical and Electronics Engineers Inc., pp. 475-482, 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, 27/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739292

Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy. / Tan, Ning; Hu, Ruikun; Wu, Yuyang et al.
2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 475-482 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy

AU - Tan, Ning

AU - Hu, Ruikun

AU - Wu, Yuyang

AU - Zhang, Xinyu

AU - Ni, Fenglei

AU - Sun, Zhenglong

PY - 2021

Y1 - 2021

N2 - In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.

AB - In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.

UR - https://www.scopus.com/pages/publications/85128179936

U2 - 10.1109/ROBIO54168.2021.9739292

DO - 10.1109/ROBIO54168.2021.9739292

M3 - 会议稿件

AN - SCOPUS:85128179936

T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

SP - 475

EP - 482

BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Y2 - 27 December 2021 through 31 December 2021

ER -

Tan N, Hu R, Wu Y, Zhang X, Ni F, Sun Z. Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 475-482. (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). doi: 10.1109/ROBIO54168.2021.9739292

Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy

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