確率的表現された粘弾性パラメータを用いた柔軟指の実時間状態推定

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  • Real-time State Estimation of a Soft Finger using Stochastic Viscoelastic Parameters

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<p>State estimation is one of the key techniques to control soft robots, which is difficult to use sensors like traditional robots. Though modeling is an important process to achieve this, that of soft robots is challenging because of their highly nonlinear and uncertain behaviors. Many models were proposed, and we also proposed the one which contained stochastic distributed parameters for their uncertainty. In this study, we propose the state estimation method of a soft finger by using Kalman Filter framework. Stochastic parameters are suitable for constructing an appropriate estimator. Through an experimental validation, the performance of proposed estimator is discussed. </p>

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