Christian Sorensen — accepted AI-conference papers

2023

Soft Robot Shape Estimation: A Load-Agnostic Geometric Method

IROS 2023poster

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 o…

Cited by 4 Source ↗Scholar ↗

2021

Soft Robot Configuration Estimation and Control Using Simultaneous Localization and Mapping

Christian Sorensen, Phillip Hyatt, Matthew Ricks, Seth Nielsen, Marc D. Killpack

IROS 2021poster

In this paper we present a novel approach to accomplishing soft robot configuration estimation and control using RGB-D cameras and SLAM-based methods. By placing cameras on the unactuated sections of our large-scale (approximately 2 meters long) pneumatic soft robot, we can map an environment and th…

Cited by 4 Source ↗Scholar ↗