Vision-Based Proprioceptive Sensing: Tip Position Estimation for a Soft Inflatable Bellow Actuator
Peter Werner,Matthias Hofer,Carmelo Sferrazza,Raffaello D’Andrea,Peter Werner,Matthias Hofer,Carmelo Sferrazza,Raffaello D’Andrea
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an internal camera. The proposed vision-based sensing pipeline predicts the three-dimensional tip position of the actuator. To train and evaluate the algorithm, predictions are compared to ground truth data from an external motion capture system. An off-the-shelf distance sensor is integrated in ...
