CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots

Conor Messer; Anup Teejo Mathew; Nenad Mladenovic; Federico Renda

doi:10.1109/RoboSoft54090.2022.9762088

CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots

Conor Messer, Anup Teejo Mathew, Nenad Mladenovic, Federico Renda

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this work, we present Concentric Tube Robot Design and Path Plan (CTR DaPP), a Python application that utilizes the recently introduced Piecewise Variable Strain approach for the design and path planning of concentric tube robots (CTRs). The application provides a modular platform for implementing and testing combinations of path planners and design optimization algorithms. We apply the Randomly Exploring Rapid Tree and Nelder-Mead algorithms to test the 'follow-the-leader' behavior and demonstrate the potential benefits of variable strain tubes in path planning problems. This platform, paired with the variable-strain model, opens up new research avenues to investigate follow-the-leader behavior, elastic stability, and tube design of variable-strain CTRs through simulation.

Original language	British English
Title of host publication	2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	14-20
Number of pages	7
ISBN (Electronic)	9781665408288
DOIs	https://doi.org/10.1109/RoboSoft54090.2022.9762088
State	Published - 2022
Event	5th IEEE International Conference on Soft Robotics, RoboSoft 2022 - Edinburgh, United Kingdom Duration: 4 Apr 2022 → 8 Apr 2022

Publication series

Name	2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022

Conference

Conference	5th IEEE International Conference on Soft Robotics, RoboSoft 2022
Country/Territory	United Kingdom
City	Edinburgh
Period	4/04/22 → 8/04/22

Access to Document

10.1109/RoboSoft54090.2022.9762088

Cite this

Messer, C., Mathew, A. T., Mladenovic, N., & Renda, F. (2022). CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots. In 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 (pp. 14-20). (2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RoboSoft54090.2022.9762088

Messer, Conor ; Mathew, Anup Teejo ; Mladenovic, Nenad et al. / CTR DaPP : A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 14-20 (2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022).

@inproceedings{7111330ee1fb4a41973bfd840b116906,

title = "CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots",

abstract = "In this work, we present Concentric Tube Robot Design and Path Plan (CTR DaPP), a Python application that utilizes the recently introduced Piecewise Variable Strain approach for the design and path planning of concentric tube robots (CTRs). The application provides a modular platform for implementing and testing combinations of path planners and design optimization algorithms. We apply the Randomly Exploring Rapid Tree and Nelder-Mead algorithms to test the 'follow-the-leader' behavior and demonstrate the potential benefits of variable strain tubes in path planning problems. This platform, paired with the variable-strain model, opens up new research avenues to investigate follow-the-leader behavior, elastic stability, and tube design of variable-strain CTRs through simulation.",

author = "Conor Messer and Mathew, {Anup Teejo} and Nenad Mladenovic and Federico Renda",

note = "Funding Information: This work was supported by the Khalifa University of Science and Technology under Award No. FSU-2018-08, RC2-2018-HEIC, CIRA-2020-074 and ADEK Award for Research Excellence (AARE-2018-105). Funding Information: This work was supported in part by the Khalifa University of Science and Technology under Grants RC2-2018-HEIC, CIRA-2020-074, RC1-2018-KUCARS, and in part by the Office of Naval Research Global under Grant N62909-21-1-2033. Publisher Copyright: {\textcopyright} 2022 IEEE.; 5th IEEE International Conference on Soft Robotics, RoboSoft 2022 ; Conference date: 04-04-2022 Through 08-04-2022",

year = "2022",

doi = "10.1109/RoboSoft54090.2022.9762088",

language = "British English",

series = "2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Messer, C, Mathew, AT, Mladenovic, N & Renda, F 2022, CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots. in 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022, Institute of Electrical and Electronics Engineers Inc., pp. 14-20, 5th IEEE International Conference on Soft Robotics, RoboSoft 2022, Edinburgh, United Kingdom, 4/04/22. https://doi.org/10.1109/RoboSoft54090.2022.9762088

CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots. / Messer, Conor; Mathew, Anup Teejo; Mladenovic, Nenad et al.
2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 14-20 (2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N1 - Funding Information: This work was supported by the Khalifa University of Science and Technology under Award No. FSU-2018-08, RC2-2018-HEIC, CIRA-2020-074 and ADEK Award for Research Excellence (AARE-2018-105). Funding Information: This work was supported in part by the Khalifa University of Science and Technology under Grants RC2-2018-HEIC, CIRA-2020-074, RC1-2018-KUCARS, and in part by the Office of Naval Research Global under Grant N62909-21-1-2033. Publisher Copyright: © 2022 IEEE.

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N2 - In this work, we present Concentric Tube Robot Design and Path Plan (CTR DaPP), a Python application that utilizes the recently introduced Piecewise Variable Strain approach for the design and path planning of concentric tube robots (CTRs). The application provides a modular platform for implementing and testing combinations of path planners and design optimization algorithms. We apply the Randomly Exploring Rapid Tree and Nelder-Mead algorithms to test the 'follow-the-leader' behavior and demonstrate the potential benefits of variable strain tubes in path planning problems. This platform, paired with the variable-strain model, opens up new research avenues to investigate follow-the-leader behavior, elastic stability, and tube design of variable-strain CTRs through simulation.

AB - In this work, we present Concentric Tube Robot Design and Path Plan (CTR DaPP), a Python application that utilizes the recently introduced Piecewise Variable Strain approach for the design and path planning of concentric tube robots (CTRs). The application provides a modular platform for implementing and testing combinations of path planners and design optimization algorithms. We apply the Randomly Exploring Rapid Tree and Nelder-Mead algorithms to test the 'follow-the-leader' behavior and demonstrate the potential benefits of variable strain tubes in path planning problems. This platform, paired with the variable-strain model, opens up new research avenues to investigate follow-the-leader behavior, elastic stability, and tube design of variable-strain CTRs through simulation.

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Messer C, Mathew AT, Mladenovic N, Renda F. CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots. In 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 14-20. (2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022). doi: 10.1109/RoboSoft54090.2022.9762088

CTR DaPP: A Python Application for Design and Path Planning of Variable-strain Concentric Tube Robots

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