Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast, this work proposes a novel plant-inspired behaviour-based controller that exploits information obtained from proximity sensing embedded near the end-effector to move towards a desired spatial target. The controller is tested on a 9-DoF modular cable-driven continuum arm for reaching multiple setpoints in space. The results are promising for the deployability of these systems into unstructured environments.

翻译：赋予高冗余连续体机器人臂到达能力是一个活跃的研究领域。现有解决方案包括任务空间控制器，但其正常运行仍局限于实验室环境。相比之下，本研究提出了一种新颖的植物启发式行为控制器，该控制器利用嵌入末端执行器附近的接近传感获得的信息，向期望空间目标移动。该控制器在9自由度模块化缆索驱动连续体臂上进行了测试，实现了空间中多个设定点的到达。实验结果对这类系统向非结构化环境部署的前景令人鼓舞。