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Specifically, we capture the motion of a set of fictitious planes, each formed by four or more feature points, defined at various strategic locations along the body of the robot. Then, utilizing expressions for the robot forward kinematics as well as the decomposition of a homography relating a reference image of the robot to the actual robot image, we obtain the three-dimensional shape information continuously. We then use this information to demonstrate the development of a kinematic controller to regulate the manipulator end-effector to a constant desired position and orientation.<\/jats:p>","DOI":"10.1017\/s0263574707003475","type":"journal-article","created":{"date-parts":[[2007,3,23]],"date-time":"2007-03-23T13:19:44Z","timestamp":1174655984000},"page":"581-586","source":"Crossref","is-referenced-by-count":44,"title":["Setpoint regulation of continuum robots using a fixed camera"],"prefix":"10.1017","volume":"25","author":[{"given":"V. K.","family":"Chitrakaran","sequence":"first","affiliation":[]},{"given":"A.","family":"Behal","sequence":"additional","affiliation":[]},{"given":"D. M.","family":"Dawson","sequence":"additional","affiliation":[]},{"given":"I. D.","family":"Walker","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2007,9,1]]},"reference":[{"key":"S0263574707003475_ref15","volume-title":"Robot Dynamics and Control","author":"Spong","year":"1991"},{"key":"S0263574707003475_ref20","volume-title":"Generalized Inverse Matrices","author":"Boullion","year":"1971"},{"key":"S0263574707003475_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500408"},{"key":"S0263574707003475_ref18","doi-asserted-by":"crossref","unstructured":"18. Sukthankar R. , Stockton R. , and Mullin M. , \u201cSmarter Presentations: Exploiting Homography in Camera-Projector Systems,\u201d Proceedings of the International Conference on Computer Vision (2001) pp. 247\u2013253, Vancouver, Canada.","DOI":"10.1109\/ICCV.2001.937525"},{"key":"S0263574707003475_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.802721"},{"key":"S0263574707003475_ref17","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008181530296"},{"key":"S0263574707003475_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/BF00126069"},{"key":"S0263574707003475_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/70.478426"},{"key":"S0263574707003475_ref16","volume-title":"Three-Dimensional Computer Vision","author":"Faugeras","year":"2001"},{"key":"S0263574707003475_ref10","first-page":"735","volume-title":"Robotics Research: The First International Symposium","author":"Yoshikawa","year":"1984"},{"key":"S0263574707003475_ref5","doi-asserted-by":"publisher","DOI":"10.1142\/S0218001488000285"},{"key":"S0263574707003475_ref14","unstructured":"14. Hannan M. W. , Theory and Experiments With an Elephant's Trunk' Robotic Manipulator, Ph.D. Thesis (Clemson, South Carolina: Department of Electrical and Computer Engineering, Clemson University, 2002)."},{"key":"S0263574707003475_ref1","doi-asserted-by":"crossref","unstructured":"1. Robinson G. and Davies J. B. C. , \u201cContinuum Robots\u2013A State of the Art,\u201d Proceedings of the IEEE Conference on Robotics and Automation, Detroit, Michigan (1999) pp. 2849\u20132854.","DOI":"10.1109\/ROBOT.1999.774029"},{"key":"S0263574707003475_ref2","unstructured":"2. Davies J. B. C. , A Flexible Motion Generator, Ph.D. Thesis (Edinburgh: Heriot-Watt University, 1996)."},{"key":"S0263574707003475_ref4","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704001018"},{"key":"S0263574707003475_ref3","first-page":"847","article-title":"Analysis and experiments with an elephant's trunk robot","volume":"15","author":"Hannan","year":"2001","journal-title":"Int. J. Robot. Soc. 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R. , \u201cScaled Euclidean 3D Reconstruction Based on Externally Uncalibrated Cameras,\u201d Proceedings of the IEEE Symposium on Computer Vision, Coral Gables, Florida (1995) pp. 37\u201342.","DOI":"10.1109\/ISCV.1995.476974"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003475","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,6]],"date-time":"2019-04-06T19:43:33Z","timestamp":1554579813000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003475\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,9]]},"references-count":20,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2007,9]]}},"alternative-id":["S0263574707003475"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003475","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,9]]}}}