A marginalized particle filter interfaces a nominal constant-curvature model with a Gaussian Process bending-stiffness model to enable simultaneous pose estimation and online learning from base reactions in a real soft robot.
Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory,
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Simultaneous State Estimation and Online Model Learning in a Soft Robotic System
A marginalized particle filter interfaces a nominal constant-curvature model with a Gaussian Process bending-stiffness model to enable simultaneous pose estimation and online learning from base reactions in a real soft robot.