Shape and Tip Force Estimation of Concentric Tube Robots Based on Actuation Readings Alone.
AbdulAziz Y. AlKayasDaniel Feliú TalegonAnup Teejo MathewD. Caleb RuckerFederico RendaPublished in: RoboSoft (2023)
Keyphrases
- tactile sensing
- shape estimation
- mobile robot
- shape model
- robotic systems
- shape matching
- shape analysis
- human robot interaction
- maximum likelihood criterion
- shape features
- multi robot
- estimation algorithm
- shape representation
- contact force
- force field
- autonomous robots
- control algorithm
- shape descriptors
- parameter estimation
- service robots
- mechanical design
- joint space
- vector field