A Localization Framework for Boundary Constrained Soft Robots
Koki Tanaka,Qiyuan Zhou,Ankit Srivastava,Matthew Spenko,Koki Tanaka,Qiyuan Zhou,Ankit Srivastava,Matthew Spenko
Soft robots possess unique capabilities for adapting to the environment and interacting with it safely. However, their deformable nature also poses challenges for controlling their movement. In particular, the large deformations of a soft robot make it difficult to localize its individual body parts, which in turn impedes effective control. This paper introduces a novel localization framework desi...
