Soft Robot Configuration Estimation and Control Using Simultaneous Localization and Mapping
Christian Sorensen,Phillip Hyatt,Matthew Ricks,Seth Nielsen,Marc D. Killpack,Christian Sorensen,Phillip Hyatt,Matthew Ricks,Seth Nielsen,Marc D. Killpack
In this paper we present a novel approach to accomplishing soft robot configuration estimation and control using RGB-D cameras and SLAM-based methods. By placing cameras on the unactuated sections of our large-scale (approximately 2 meters long) pneumatic soft robot, we can map an environment and then estimate the orientation of the robot links using landmark-based localization. Using the orientat...
