Fault-Tolerant Six-DoF Pose Estimation for Tendon-Driven Continuum Mechanisms
We propose a fault-tolerant estimation technique for the six-DoF pose of a tendon-driven continuum mechanisms using machine learning. In contrast to previous estimation techniques, no deformation model is required, and the pose prediction is rather performed with polynomial regression. As only a few...
Main Authors: | , , |
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Format: | Article |
Language: | English |
Published: |
Frontiers Media S.A.
2021-04-01
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Series: | Frontiers in Robotics and AI |
Subjects: | |
Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.619238/full |