Kim, J. Moon, Y. Kwon, S.-I. Kim, K. 2024-01-19T09:37:54Z 2024-01-19T09:37:54Z 2022-03-07 2020-10 2153-0858 https://pubs.kist.re.kr/handle/201004/113857 Hyper-redundant manipulators driven by cables are used in minimally invasive surgery because of their flexibility and small diameters. In particular, manipulators composed of many rigid links and joints have the advantages of high stiffness and payload. However, these manipulators have difficulty in estimating their positions and shapes using calculations based only on the kinematics model that assumes all joint angles are equal. In this paper, we present a method for estimating the position and shape of the rolling joint in hyper-redundant manipulators by minimizing the joint moments. This allows the determination the equilibrium position of all segments of the rolling joint, and therefore an estimation of its shape. We experimentally determine the position and shape of a prototype of the rolling joint and compare them to a simulation of our method. The maximum error between the simulation and the experimental results is 4.13 mm, which is a 77.22% improvement over the kinematic model that calculates the same joint angle. This verifies that our method accurately estimates the position and shape of the rolling joint. ？ 2020 IEEE. English Institute of Electrical and Electronics Engineers Inc. Accurate estimation of the position and shape of the rolling joint in hyper-redundant manipulators Conference 10.1109/IROS45743.2020.9341090 1 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, pp.3055 - 3060 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 3055 3060 US Las Vegas, Nevada 2020-10-24 IEEE International Conference on Intelligent Robots and Systems 000714033801056 2-s2.0-85102400855