A Proprioceptive Method for Soft Robots Using Inertial Measurement Units
Yves J. Martin,Daniel Bruder,Robert J. Wood,Yves J. Martin,Daniel Bruder,Robert J. Wood
Proprioception, or the perception of the configuration of one's body, is challenging to achieve with soft robots due to their infinite degrees of freedom and incompatibility with most off-the-shelf sensors. This work explores the use of inertial measurement units (IMUs), sensors that output orientation with respect to the direction of gravity, to achieve soft robot proprioception. A simple method ...
