Non visual sensor based shape perception method for gait control of flexible colonoscopy robot

Jaewoo Lee; Genya Ukawa; Shuna Doho; Zhuohua Lin; Hyroyuki Ishii; Massimiliano Zecca; Atsuo Takanishi

doi:10.1109/ROBIO.2011.6181348

Non visual sensor based shape perception method for gait control of flexible colonoscopy robot

Jaewoo Lee^*, Genya Ukawa, Shuna Doho, Zhuohua Lin, Hyroyuki Ishii, Massimiliano Zecca, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

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

7 Citations (Scopus)

Abstract

In this paper, the shape of the medical robot which can move in the colon is suggested for its gate control. In this system, the current shape information plays a sensing role in order to control the gate of robot in the colon. In order to find current shape of robot, we construct sensor network system which composed of several electronic compass units. This unit makes use of chip which includes pair of 3 axis accelerometer and 3 axis magnetometer. From this signals, orientation is evaluated after filtering noise. Then, based on the kinematic chain model, the shape of the flexible robot is calculated using orientation information. The resulting trajectory shows that this method cans percept shape of flexible robot well.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages	577-582
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2011.6181348
Publication status	Published - 2011 Dec 1
Event	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand Duration: 2011 Dec 7 → 2011 Dec 11

Publication series

Name	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/Territory	Thailand
City	Phuket
Period	11/12/7 → 11/12/11

Keywords

Kinematic Chain
Non visual sensor network
Orientation
Shape Perception

ASJC Scopus subject areas

Computer Vision and Pattern Recognition

Access to Document

10.1109/ROBIO.2011.6181348

Cite this

Lee, J., Ukawa, G., Doho, S., Lin, Z., Ishii, H., Zecca, M., & Takanishi, A. (2011). Non visual sensor based shape perception method for gait control of flexible colonoscopy robot. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 577-582). Article 6181348 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181348

Non visual sensor based shape perception method for gait control of flexible colonoscopy robot. / Lee, Jaewoo; Ukawa, Genya; Doho, Shuna et al.
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 577-582 6181348 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011).

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

Lee, J, Ukawa, G, Doho, S, Lin, Z, Ishii, H, Zecca, M & Takanishi, A 2011, Non visual sensor based shape perception method for gait control of flexible colonoscopy robot. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181348, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 577-582, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181348

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Non visual sensor based shape perception method for gait control of flexible colonoscopy robot

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Keywords

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