Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees of freedom. Our work addresses this by presenting a unified telemanipulation strategy which enables follow-the-leader locomotion and reorientation keeping the shape change as small as possible. The basis for this is a novel shape-fitting approach for solving the inverse kinematics in only a few milliseconds. Shape fitting is performed by maximizing the similarity of two curves using Fr\'echet distance while simultaneously specifying the position and orientation of the end effector. Telemanipulation performance is investigated in a study in which 14 participants controlled a simulated snake robot to locomote into the target area. In a final validation, pivot reorientation within the target area is addressed.
翻译:蛇体机器人由于能够遵循曲线线路径,为内窥镜干预提供了相当大的潜力。 远程管理由于高度冗余,是一个尚未解决的问题, 因为输入装置只允许指定六度的自由度。 我们的工作通过提出统一的远程管理策略来解决这个问题, 该战略可以让后领运动和方向调整尽可能小地保持形状变化。 其基础是新颖的形状适应方法, 仅用几毫秒就能解决反动动体。 形状安装是通过使用 Fr\' echet 距离来尽量扩大两个曲线的相似性, 同时指定终端效果器的位置和方向。 远程管理性能在一项研究中受到调查, 14名参与者控制模拟蛇体机器人进入目标区域。 在最后验证中, 目标区域内的电磁调节方向调整会得到解决 。</s>