├── CRL-Dataset-CTCR-Pose.csv ├── LICENSE ├── README.md └── annotation_of_the_dataset.png /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2022 Continuum Robotics Lab 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots 2 | 3 | We present a dataset captured from a three-tube concentric tube continuum robot for use in learning-based kinematics research. 4 | The dataset consists of 100 000 joint configurations and the corresponding four 6 dof sensors in SE(3) measured with an electromagnetic tracking system. 5 | The dataset has been collected in eight sequences. 6 | Each sequence encompasses 12 500 dataset points. 7 | A dataset point consists all 6 dof of Cartesian space SE(3) described by the singularity free quaternion/vector-pairs for each sensor pose, all 6 dof of joints space Q, and the difference in joint space configuration to the previous configuration. 8 | 9 | CRL-Dataset-CTCR-Pose is a lightweight dataset and has a size of 56.5 MB. 10 | It is provided as a CVS file. 11 | A dataset point consists: 12 | 13 | - six absolute joint values 14 | - six relative joint values 15 | - pose of the base 16 | - pose of the proximal sensor attached to the outermost tube 17 | - pose of the sensor attached to the middle tube 18 | - pose of the distal sensor attached to the most inner tube 19 | 20 | The annotation of the dataset is provided in table below. 21 | 22 | ![Image](annotation_of_the_dataset.png "Annotation of the dataset in the CSV file.") 23 | 24 | For more details on the dataset, our [paper](https://openreview.net/pdf?id=DW9uz_GZ0og) provide implementation details on the data acquisition and a brief overview of the used testbed including the robotic prototype. 25 | Furthermore, insights on learning the kinematics of this type of robot and a discussion on open challenges are provided. 26 | 27 | ### Concentric Tube Continuum Robots 28 | 29 | Concentric tube continuum robots (CTCR) are a class of continuum robots introduced in 2006. 30 | A CTCR consists of multiple nested tubes that are concentric, pre-curved, and super-elastic. 31 | To generate a motion by changing the centerline of the nested tubes, each tube can be rotated and translated as shown in this [video](https://youtu.be/1cXGMlcE5SE). 32 | The kinematics of a CTCR is characterized by the highly non-linear behavior of the elastic interaction between the tubes. 33 | 34 | CTCR are proposed and introduced simulatneously by 35 | 36 | - Webster et al. [Toward Active Cannulas: Miniature Snake-Like Surgical Robots](https://doi.org/10.1109/IROS.2006.282073) 37 | - Sears and Dupont [A Steerable Needle Technology Using Curved Concentric Tubes](https://doi.org/10.1109/IROS.2006.282072) 38 | 39 | More details on CTCR, ckeck the following review paper 40 | 41 | - Gilbert et al. [Concentric Tube Robots: The State of the Art and Future Directions](https://doi.org/10.1007/978-3-319-28872-7_15) 42 | - Mahoney et al. [A review of concentric tube robots: modeling, control, design, planning, and sensing](https://doi.org/10.1142/9789813232266_0007) 43 | - Mitros et al. [From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots](https://doi.org/10.1146/annurev-control-042920-014147) 44 | 45 | For learning the kinematics of a CTCR, please take a look at the following paper. 46 | 47 | - Bergeles et al. [Concentric tube robot kinematics using neural networks](https://scholar.google.com/scholar?as_sdt=0%2C31&q=Concentric+tube+robot+kinematics+using+neural+networks&btnG=) 48 | - Grassmann et al. [Learning the Forward and Inverse Kinematics of a 6-DOF Concentric Tube Continuum Robot in SE(3)](https://doi.org/10.1109/IROS.2018.8594451) 49 | - Grassmann and Burgner-Kahrs [On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)](https://doi.org/10.15607/RSS.2019.XV.017) 50 | - Kunzt et al. [Learning the complete shape of concentric tube robots](https://doi.org/10.1109/TMRB.2020.2974523) 51 | - Grassmann et al. [A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots](https://openreview.net/pdf?id=DW9uz_GZ0og) 52 | 53 | ### BibTeX 54 | 55 | This repository is part of the following publication. 56 | If you want to cite our CRL-Dataset-CTCR-Pose, you can use our [paper](https://doi.org/10.1109/IROS47612.2022.9981719): 57 | 58 | ```bibtex 59 | @inproceedings{GrassmannBurgner-Kahrs_et_al_IROS_2022, 60 | title = {A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots}, 61 | author = {Grassmann, Reinhard M. and Chen, Ryan Zeyuan and Liang, Nan and Burgner-Kahrs, Jessica}, 62 | doi = {10.1109/IROS47612.2022.9981719} 63 | year = {2022}, 64 | booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 65 | } 66 | ``` 67 | -------------------------------------------------------------------------------- /annotation_of_the_dataset.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ContinuumRoboticsLab/CRL-Dataset-CTCR-Pose/ab03d281326d0c1420ebde725318103002c21b1f/annotation_of_the_dataset.png --------------------------------------------------------------------------------