相关论文: Estimating Infinite-Dimensional Continuum Robot St…

State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers. However, state estimation of soft robots is very…

State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is particularly challenging because their states (poses, strains, internal wrenches, and velocities) are inherently infinite-dimensional…

Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…

Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess has been made in the mechanical design and dynamic…

Continuum robots, made from flexible materials with continuous backbones, have several advantages over traditional rigid robots. Some of them are the ability to navigate through narrow or confined spaces, adapt to irregular or changing…

In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…

Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…

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…

This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…

Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control…

State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-static methods. These limitations can be sensitive to unmodelled…

Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

Locomotion robots with active or passive compliance can show robustness to uncertain scenarios, which can be promising for agricultural, research and environmental industries. However, state estimation for these robots is challenging due to…

This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…

Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…

Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters and smoothers have been the dominant…

This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…