滑动传感器：连续体机器人状态估计的可配置置信度
Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots
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中文总结 AI 辅助
本研究提出可机械重构的滑动传感器设计，通过调整其在连续体机器人内的位置优化状态估计置信度，可降低全身形状估计误差，为连续体机器人的安全交互提供支撑。
中文摘要 AI 辅助
连续体机器人常工作于不确定环境中，准确的状态估计对安全交互至关重要。估计的不确定性在空间上本就不均匀：置信度随测量可用位置变化。全局估计精度并非始终是首要任务，而是要在机器人沿任务相关位置获得足够置信度。本扩展摘要介绍了可机械重构的传感技术，可实现连续体机器人状态估计中的不确定性塑造。我们提出了一种概念硬件设计，证明了传感器在连续体机器人内纵向平移的可行性。我们证明，通过改变传感器位置可重构状态估计置信度，且与单个固定末端传感器相比，传感器随时间来回滑动时全身形状估计误差会降低。
英文摘要
Continuum robots often operate in uncertain environments, where accurate state estimation is essential for safe interactions. Estimate uncertainty is inherently spatially non-uniform: confidence varies depending on where measurements are available. Global estimation accuracy is not always the top priority, but rather achieving sufficient confidence at task-relevant locations along the robot. This extended abstract introduces mechanically reconfigurable sensing enabling uncertainty-shaping in state estimation for continuum robots. We present a concept hardware design demonstrating the feasibility of longitudinal translation of a sensor within a continuum robot. We demonstrate that state estimation confidence can be reconfigured by varying the sensor location, and show a reduction of full-body shape estimation errors when sliding the sensor back and forth over time, compared to a single fixed tip sensor.
发表机构
- University of Toronto Robotics Institute（多伦多大学机器人研究所）
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