モジュール式剛性と自己姿勢推定を備えた腱駆動連続体ロボット
Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation
交換可能な連続体関節と磁気センサーによる自己姿勢推定を組み合わせ、外部トラッキングなしで形状適応できるモジュール式連続体ロボットを開発した。
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著者: Guo Ning, Sue, Zheng Cao, Junzhe Hu, Xiangyun Bu, David Quinn, Tiancheng Wu, Zackory Erickson, Carmel Majidi
分類: cs.RO, eess.SY
原文アブストラクト
Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrastructure, limiting their adaptability and real-world deployment. This paper presents a self-contained modular continuum robotic platform that combines mechanical reconfigurability with onboard pose estimation. The robot is constructed from interchangeable continuum joints with analytically precomputed stiffness, allowing rapid assembly and direct programming of the robot shape. Proprioceptive sensing is achieved using magnetic sensors and a modular learning-based framework, where a single model is trained per joint and reused across configurations. The system is experimentally validated in real world, demonstrating self-sensing capabilities and adaptation without external tracking.