A factor graph framework estimates continuum robot shapes using Geometric Variable Strain coefficients constrained by Magnus expansion kinematics, achieving mean position errors below 2 mm in simulation.
Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization,
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Factor Graph-Based Shape Estimation for Continuum Robots via Magnus Expansion
A factor graph framework estimates continuum robot shapes using Geometric Variable Strain coefficients constrained by Magnus expansion kinematics, achieving mean position errors below 2 mm in simulation.