スライディングセンサ：連続体ロボットの状態推定における設定可能な信頼度
Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots
連続体ロボットの状態推定において、センサをロボット内で縦方向に移動させることで、タスクに応じた場所の推定信頼度を調整できることを示した論文。
著者: Ella Walsh, Spencer Teetaert, Eric Diller, Timothy D. Barfoot, Jessica Burgner-Kahrs
分類: cs.RO
原文アブストラクト
Continuum robots often operate in uncertain environments, where accurate state estimation is essential for safe interactions. Estimate uncertainty is inherently spatially non-uniform: confidence varies depending on where measurements are available. Global estimation accuracy is not always the top priority, but rather achieving sufficient confidence at task-relevant locations along the robot. This extended abstract introduces mechanically reconfigurable sensing enabling uncertainty-shaping in state estimation for continuum robots. We present a concept hardware design demonstrating the feasibility of longitudinal translation of a sensor within a continuum robot. We demonstrate that state estimation confidence can be reconfigured by varying the sensor location, and show a reduction of full-body shape estimation errors when sliding the sensor back and forth over time, compared to a single fixed tip sensor.