IMU融合によるモジュール式ソフト腱駆動連続ロボットの磁気ベース自己位置姿勢推定
Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion
IMUと能動磁場を組み合わせ、外部カメラなしで連続ロボットの姿勢を推定する埋め込み型センシングを提案し、閉ループ制御で有効性を実証した。
著者: Zheng Cao, Guo Ning Sue, Xiangyun Bu, David Quinn, Junzhe Hu, Carmel Majidi
分類: cs.RO, eess.SP, eess.SY
原文アブストラクト
Continuum robots are well suited for gentle manipulation because of their inherent compliance and ability to adapt to complex environments. However, their continuously deformable structure makes accurate configuration estimation challenging, particularly when external vision systems are unavailable or obstructed. In this work, we present an embedded pose sensing framework that combines inertial measurement units (IMUs) and active magnetic fields to estimate the robot configuration without relying on external cameras. The angular measurements from the IMU and magnetic-field references are fused to improve local orientation estimation and reduce accumulated orientation error during operation. This pose sensing scheme achieves an update rate of 16.7~Hz, allowing real-time feedback. The proposed system is experimentally validated through closed-loop control, where the estimated robot configuration is used to maintain the end-effector at a desired position while interacting with an object. These results demonstrate the potential of distributed magnetic--inertial sensing for real-time pose estimation and closed-loop control of continuum robots.