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cs.RO2025
Pose Estimation of a Thruster-Driven Bioinspired Multi-Link Robot
Nicholas B. Andrews, Yanhao Yang, Sofya Akhetova +2
This work demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thru…
cs.RO2025
Modeling, Observability, and Inertial Parameter Estimation of a Planar Multi-Link System with Thrusters
Nicholas B. Andrews, Kristi A. Morgansen
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrust…