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arXiv · 2409.12302

Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots

Spencer Teetaert·Sven Lilge·Jessica Burgner-Kahrs·Timothy D. Barfoot
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Abstract

This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over both arclength and time. We use this to introduce the first continuous-time-and-space state estimation method for continuum robots.

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Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot. 2024-09-18. Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots. https://arxiv.org/abs/2409.12302

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