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Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments
2012
2012 IEEE International Conference on Robotics and Automation
This paper presents a novel filtering technique that uses contact detection data and environmental stiffness estimates to register and localize a robot with respect to an a priori 3D surface model. The algorithm leverages geometric constraints within a Kalman filter framework and relies on two distinct update procedures: 1) an equality constrained step for when the robot is forcefully contacting the environment, and 2) an inequality constrained step for when the robot lies in the freespace of
doi:10.1109/icra.2012.6225080
dblp:conf/icra/TullyBKCS12
fatcat:rve4xzjjdbcv5kbfkzxw7bj7vi