Paper ID: 2409.12302

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

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

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.

Submitted: Sep 18, 2024