Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots
Robotics
2024-09-20 v1
Abstract
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over both arclength and time. We use this to introduce the first continuous-time-and-space state estimation method for continuum robots.
Keywords
Cite
@article{arxiv.2409.12302,
title = {Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots},
author = {Spencer Teetaert and Sven Lilge and Jessica Burgner-Kahrs and Timothy D. Barfoot},
journal= {arXiv preprint arXiv:2409.12302},
year = {2024}
}
Comments
Accepted at ICRA40