Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement
This paper presents methods for placing length sensors on a soft continuum robot joint as well as a novel configuration estimation method that drastically minimizes configuration estimation error. The methods utilized for placing sensors along the length of the joint include a single joint length se...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2021-04-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.637301/full |