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Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion — arXiv:2609.39950

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.39950
License (as archived): CC0-1.0
Archived: 2026-10-07T15:12:17.374Z
SHA-256 of the archived text: 4c13b43d8122205b8e678cbdd1967b775e0f541de6c1045dd73ad86d7f1939b4
Stable URL of this page: https://metraipolis.com/documento/dc_fac1811ffabb

How to cite

Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion — arXiv:2609.39950 — arXiv (en), https://arxiv.org/abs/2609.39950 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_fac1811ffabb (Metraipolis archive dc_fac1811ffabb, sha256 4c13b43d8122205b8e678cbdd1967b775e0f541de6c1045dd73ad86d7f1939b4)

BibTeX

@misc{dcfac1811ffabb,
  title = {Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion — arXiv:2609.39950},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.39950},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_fac1811ffabb; sha256 4c13b43d8122205b8e678cbdd1967b775e0f541de6c1045dd73ad86d7f1939b4},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.39950. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-10-01 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Signal Processing (eess.SP); Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.39950 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-07T14:44:47.483Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-10-01?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).