3 accepted papers
Soft robots can revolutionize several applications with high demands on dexterity and safety. When operating these systems, real-time estimation and control require fast and accurate models. However, prediction with first-principles (FP) models is slow, and learned black-box models have poor general…
Sophisticated models can accurately describe deformations of continuum robots while being computationally demanding, which limits their application. Especially when considering sampling-based path planning, the model has to be evaluated frequently, which can lead to substantially increased computati…
This paper presents a new approach to determine single and multiple simultaneous contact forces on a tendon-driven continuum robot (CR). The estimation is based solely on the proprioceptive tendon force and length sensors that are already present. Unlike for rigid-body robots, only indirect measurem…