State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body
<|reference_start|>State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body: For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential for environmental interaction. We propose a method for simultaneous articulated robot posture estimation and environmental mapping by integrating data from proximity sensors distributed over the whole body. Our method extends the discrete-time model, typically used for state estimation, to the spatial direction of the articulated structure. The simulations demonstrate that this approach significantly reduces estimation errors.<|reference_end|>
@article{iwao2024state,
    title={State Estimation and Environment Recognition for Articulated Structures
  via Proximity Sensors Distributed over the Whole Body},
    author={Kengo Iwao, Hikaru Arita and Kenji Tahara},
    journal={arXiv preprint arXiv:2409.12564},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.12564},
    primaryClass={cs.RO}
}