A Semilinear Parameter-Varying Observer Method for Fabric-Reinforced Soft Robots
This paper presents an observer architecture that can estimate a set of configuration space variables, their rates of change and contact forces of a fabric-reinforced inflatable soft robot. We discretized the continuum robot into a sequence of discs connected by inextensible threads; this allows gre...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2021-11-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.749591/full |