2 papers
cs.RO2026
Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators
S. Yaqubi, J. Mattila
An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie grou…
cs.RO2026
Scalable Screw-Theoretic Synthesis for PDE-Based Dynamic Modeling of Multibody Flexible Manipulators
S. Yaqubi, J. Mattila
This paper presents a novel and scalable screw-theoretic multibody synthesis framework for PDE-based dynamic modeling of serial robotic manipulators with an arbitrary number of fle…