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Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement
This paper presents methods for placing length sensors on a soft continuum robot joint as well as a novel configuration estimation method that drastically minimizes configuration estimation error. The methods utilized for placing sensors along the length of the joint include a single joint length se...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8047114/ https://www.ncbi.nlm.nih.gov/pubmed/33869295 http://dx.doi.org/10.3389/frobt.2021.637301 |