1 citations · 1 across the 6 of their papers we have counts for
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Continuum Robot Localization using Distributed Time-of-Flight Sensors
Spencer Teetaert, Giammarco Caroleo, Marco Pontin +4
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in…
Revisiting Continuous-Time Trajectory Estimation via Gaussian Processes and the Magnus Expansion
Timothy Barfoot, Cedric Le Gentil, Sven Lilge
Continuous-time state estimation has been shown to be an effective means of (i) handling asynchronous and high-rate measurements, (ii) introducing smoothness to the estimate, (iii)…
A Sliding-Window Filter for Online Continuous-Time Continuum Robot State Estimation
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
Stochastic state estimation methods for continuum robots (CRs) often struggle to balance accuracy and computational efficiency. While several recent works have explored sliding-win…
A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-stat…
Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem usi…
A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots
Maximillian Hachen, Chengnan Shentu, Sven Lilge +1
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces.…