Imperial College London
Professor Wayne Luk

ProfessorWayneLuk

Faculty of Engineering, Department of Computing

Professor of Computer Engineering
 
 
 
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Contact

 

+44 (0)20 7594 8313w.luk Website

 
 
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Location

 

434Huxley BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Lee:2018:10.1109/RCAR.2017.8311828,
author = {Lee, K-H and Leong, MCW and Chow, MCK and Fu, H-C and Luk, W and Sze, K-Y and Yeung, C-K and Kwok, K-W},
doi = {10.1109/RCAR.2017.8311828},
pages = {11--16},
publisher = {IEEE},
title = {FEM-based Soft Robotic Control Framework for Intracavitary Navigation},
url = {http://dx.doi.org/10.1109/RCAR.2017.8311828},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Bio-inspired robotic structure composed of soft actuation units has attracted increasing research interests in its potential and capacity of complying with unstructured and dynamic environment, as well as providing safe interaction with human; however, this inevitably poses technical challenging to achieve steady, reliable control due to the remarkable non-linearity of its kinematics and dynamics. To resolve this challenge, we propose a novel control framework that can characterize the kinematics of a soft continuum robot through the hyper-elastic Finite-element modeling (FEM). This enables frequent updates of the Jacobian mapping from the user motion input to the end-effector's point of view. Experimental validation has been conducted to show the feasibility of controlling the soft robot for intracavitary path following. This could be the first success to demonstrate the perspectives of achieving stable, accurate and effective manipulation under large change of robot morphology without having to deduce its analytical model. It is anticipated to draw further extensive attention on resolving the bottleneck against the application of FEM, namely its intensive computation.
AU  - Lee,K-H
AU  - Leong,MCW
AU  - Chow,MCK
AU  - Fu,H-C
AU  - Luk,W
AU  - Sze,K-Y
AU  - Yeung,C-K
AU  - Kwok,K-W
DO  - 10.1109/RCAR.2017.8311828
EP  - 16
PB  - IEEE
PY  - 2018///
SP  - 11
TI  - FEM-based Soft Robotic Control Framework for Intracavitary Navigation
UR  - http://dx.doi.org/10.1109/RCAR.2017.8311828
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000428364400003&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - http://hdl.handle.net/10044/1/61569
ER  -
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