Soft Robot Shape Estimation: A Load-Agnostic Geometric Method
Christian Sorensen,Marc D. Killpack,Christian Sorensen,Marc D. Killpack
In this paper we present a novel kinematic representation of a soft continuum robot to enable full shape estimation using a purely geometric solution. The kinematic representation involves using length varying piecewise constant curvature segments to describe the deformed shape of the robot. Based on this kinematic representation, we can use overlapping length sensors to estimate the shape of cont...
