Shape Estimation and Control of a Soft Continuum Robot Under External Payloads

Finding the shape of a continuum robot is a challenging task, especially in a constrained environment where external sensors like cameras are unable to provide sufficient information. In particular, accurate robot control becomes more difficult when the robot needs to interact with uncertain external payloads. In this article, we present the development of a soft robotic system with embedded sensors to help reconstruct the shape of the robot...