55 citations · 60 across the 9 of their papers we have counts for
4 papers · 1 filter
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.…
Incorporating Control Inputs in Continuous-Time Gaussian Process State Estimation for Robotics
Sven Lilge, Timothy D. Barfoot
Continuous-time batch state estimation using Gaussian processes is an efficient approach to estimate the trajectories of robots over time. In the past, relatively simple physics-mo…
State Estimation for Continuum Multi-Robot Systems on SE(3)
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effect…