Maximilian Mehl

Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator

Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft…