49 citations · 194 across the 54 of their papers we have counts for
3 papers · 1 filter
Bayesian Continuum Robot Dynamics and State Estimation
James M. Ferguson, Tucker Hermans, Alan Kuntz
Recent factor graph approaches to continuum robot state estimation have been successful for quasi-static applications and spatiotemporal estimation using white-noise kinematic moti…
Differentiable Mesh State Estimation via Factor Graph Inference for Deformable Object Reconstruction
Lidia Al-Zogbi, Fangjie Li, Samuel Tobin +13
Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a novel factor graph-based framework for probabilistic mesh state estimat…
Continuum Robot State Estimation with Actuation Uncertainty
James M. Ferguson, Alan Kuntz, Tucker Hermans
Continuum robots are flexible, slender manipulators well suited for confined surgical environments. In these settings, unknown interaction forces and model uncertainty significantl…