Preprint Open access
Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion
Continuum robots are well suited for gentle manipulation because of their inherent compliance and ability to adapt to complex environments. However, their continuously deformable structure makes accurate configuration estimation challenging, particularly when external vision systems are unavailable or obstructed. In th …