Aditya Prakash

Multi-Contact Force Estimation for Continuum Robots via Gaussian-Parameterized Factor Graphs

Aditya Prakash, Panagiotis Tsiotras

Continuum robots offer key advantages in navigating unstructured environments, but their safe operation requires accurate estimation of the external contact forces acting anywhere along the robot body. Estimating these forces at unknown locations is an ill-conditioned problem, pa…Read more