Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing
Barnabas Gavin Cangan,Stefan Escaida Navarro,Bai Yang,Yu Zhang,Christian Duriez,Robert K. Katzschmann,Barnabas Gavin Cangan,Stefan Escaida Navarro,Bai Yang,Yu Zhang,Christian Duriez,Robert K. Katzschmann
To aid in real-world situations, soft robots need to be able to estimate their state and external interactions based on proprioceptive sensors. Estimating disturbances allows a soft robot to perform desirable force control. However, even in the case of rigid manipulators, force estimation at the end-effector is seen as a non-trivial problem. And indeed, current approaches to address this challenge...
