Martin Törngren

2 accepted papers

2022

Shape Estimation of a 3D Printed Soft Sensor Using Multi-Hypothesis Extended Kalman Filter

Kaige Tan, Qinglei Ji, Lei Feng, Martin Törngren

RA-L 2022

This study develops a multi-hypothesis extended Kalman filter (MH-EKF) for the online estimation of the bending angle of a 3D printed soft sensor attached to soft actuators. Despite the advantage of compliance and low interference, the 3D printed soft sensor is susceptible to the hysteresis property

Cited by 8 Source ↗Scholar ↗

2019

Adaptive Trajectory Planning and optimization at Limits of Handling

Lars Svensson, Monimoy Bujarbaruah, Nitin R. Kapania, Martin Törngren

IROS 2019poster

In this paper, we tackle the problem of trajectory planning and control of a vehicle under locally varying traction limitations, in the presence of suddenly appearing obstacles. We employ concepts from adaptive model predictive control for run-time adaptation of tire force constraints that are impos…

Cited by 32 Source ↗Scholar ↗