Distributed low-resolution time-of-flight sensors along a 53 cm continuum robot, fused with a shape prior, achieve 2.5 cm position and 7.2 degree orientation localization error in simulation and real experiments across multiple environments.
A Stochas- tic Framework for Continuous-Time State Estimation of Continuum Robots,
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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.
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Continuum Robot Localization using Distributed Time-of-Flight Sensors
Distributed low-resolution time-of-flight sensors along a 53 cm continuum robot, fused with a shape prior, achieve 2.5 cm position and 7.2 degree orientation localization error in simulation and real experiments across multiple environments.
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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.