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Multi-segment continuum robot shape estimation using passive cable displacement
2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)
This paper describes a state estimation model for a multi-segment continuum robot that utilizes the displacement of passive cables embedded along the robot's length to estimate its overall shape. As continuum robots are used in activities outside a laboratory environment, methods of measuring their shape configuration in real-time will be necessary to ensure robust closed-loop control. However, because these robots deform along their entire length and lack discrete joints at which primarydoi:10.1109/rose.2013.6698415 dblp:conf/rose/RoneB13 fatcat:i7yufqldhfau3hnudqqu7a4rw4