SOURCE-LINKED INTELLIGENCE
Bayesian Continuum Robot Dynamics and State Estimation
Recent factor graph approaches to continuum robot state estimation have been successful for quasi-static applications and spatiotemporal estimation using white-noise kinematic motion priors. However, when inertial effects are significant, these approximations may fail to capture the underlying physics, limiting accuracy during dynamic motions. In contrast, our approach approximates the Cosserat rod dynamics of continuum robots. We write inertia and damping as equivalent applied loads, so that the dynamic balance retains the algebraic form of the static one from prior work with quasi-static rob
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-17T15:53:03.000Z
First collected: 2026-09-19T20:28:14.107Z. This is not the publication date.