| 000 | 04327nla2a2200469 4500 | ||
|---|---|---|---|
| 001 | 663574 | ||
| 005 | 20231030041859.0 | ||
| 035 | _a(RuTPU)RU\TPU\network\34744 | ||
| 035 | _aRU\TPU\network\34743 | ||
| 090 | _a663574 | ||
| 100 | _a20210219a2021 k y0engy50 ba | ||
| 101 | 0 | _aeng | |
| 105 | _aa z 101zy | ||
| 135 | _adrcn ---uucaa | ||
| 181 | 0 | _ai | |
| 182 | 0 | _ab | |
| 200 | 1 |
_aVisual shape and position sensing algorithm for a continuum robot _fR. A. Manakov, D. Yu. Kolpashchikov, V. V. Danilov [et al.] |
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| 203 |
_aText _celectronic |
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| 300 | _aTitle screen | ||
| 320 | _a[References: 8 tit.] | ||
| 330 | _aContinuum robots represent an actively developing and fast-growing technology in robotics. To successfully implement control and path planning of continuum robots it is important to develop an accurate three-dimensional shape and position sensing algorithm. In this paper, we propose an algorithm for the three-dimensional reconstruction of the continuum robot shape. The algorithm is performed during several steps. Initially, images from two cameras are processed by applying pre-processing and segmentation techniques. Then, the gradient descent method is applied to compare two-dimensional skeleton points of both masks. Having compared these points, it finds a skeleton of the robot in a threedimensional form. Additionally, the proposed algorithm is able to define key points using the distance from the robot base along the center line. The latter allows controlling the position of points of interest defined by a user. As a result, the developed algorithm achieved a relatively high level of accuracy and speed. | ||
| 461 | 1 |
_0(RuTPU)RU\TPU\network\2008 _tIOP Conference Series: Materials Science and Engineering |
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| 463 | 0 |
_0(RuTPU)RU\TPU\network\34482 _tVol. 1019 : 14th International Forum on Strategic Technology (IFOST 2019) _oOctober 14-17, 2019, Tomsk, Russia _fNational Research Tomsk Polytechnic University (TPU) ; eds. R. V. Ostvald, D. Gvozdeva, A. S. Ryabikina _v[012066, 6 p.] _d2021 |
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| 610 | 1 | _aэлектронный ресурс | |
| 610 | 1 | _aтруды учёных ТПУ | |
| 610 | 1 | _aробототехника | |
| 610 | 1 | _aуправление | |
| 610 | 1 | _aроботы | |
| 610 | 1 | _aалгоритмы | |
| 610 | 1 | _aсегментация | |
| 701 | 1 |
_aManakov _bR. A. |
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| 701 | 1 |
_aKolpashchikov _bD. Yu. _cspecialist in the field of engineering _cengineer of Tomsk Polytechnic University _f1992- _gDmitry Yurjevich _2stltpush _3(RuTPU)RU\TPU\pers\41099 |
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| 701 | 1 |
_aDanilov _bV. V. _cspecialist in the field of informatics and computer technology _cengineer of Tomsk Polytechnic University _f1989- _gVyacheslav Vladimirovich _2stltpush _3(RuTPU)RU\TPU\pers\37831 |
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| 701 | 1 |
_aLaptev _bN. V. _cSpecialist in the field of mechanical engineering _cEngineer of Tomsk Polytechnic University _f1995- _gNikita Vitalievich _2stltpush _3(RuTPU)RU\TPU\pers\45864 |
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| 701 | 1 |
_aSkirnevsky _bI. P. _cspecialist in the field of automation and computer systems _ceducational master Tomsk Polytechnic University _f1989- _gIgor Petrovich _2stltpush _3(RuTPU)RU\TPU\pers\35105 |
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| 701 | 1 |
_aGerget _bO. M. _cSpecialist in the field of informatics and computer technology _cAssociate Professor of Tomsk Polytechnic University, Candidate of technical sciences _f1974- _gOlga Mikhailovna _2stltpush _3(RuTPU)RU\TPU\pers\31430 |
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| 712 | 0 | 2 |
_aНациональный исследовательский Томский политехнический университет _bИнженерная школа информационных технологий и робототехники _bНаучно-образовательная лаборатория обработки и анализа больших данных _h7959 _2stltpush _3(RuTPU)RU\TPU\col\23599 |
| 712 | 0 | 2 |
_aНациональный исследовательский Томский политехнический университет _bИнженерная школа информационных технологий и робототехники _bОтделение информационных технологий _h7951 _2stltpush _3(RuTPU)RU\TPU\col\23515 |
| 801 | 2 |
_aRU _b63413507 _c20210301 _gRCR |
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| 856 | 4 | _uhttp://earchive.tpu.ru/handle/11683/64567 | |
| 856 | 4 | _uhttps://doi.org/10.1088/1757-899X/1019/1/012066 | |
| 942 | _cCF | ||