通过移动传感器位置，动态调节连续体机器人状态估计的置信度。
Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots
- 设计可滑动传感器，实现沿机器人本体的位置调节。
- 移动传感器使全身形状估计误差降低，优于固定在末端的单一传感器。
- 适合需要在关键区域保持高置信度的柔性机器人任务。
连续体机器人常在不确定环境中运行，精确的状态估计对安全交互至关重要。估计不确定性具有空间非均匀性：置信度随测量位置变化而异。全局精度并非首要目标，而是确保任务相关位置具备足够置信度。本文提出一种机械可重构传感方法，实现对连续体机器人状态估计不确定性的调控。我们展示了一种硬件设计，可实现传感器在连续体机器人内部的纵向移动。实验表明，通过改变传感器位置，可重新配置状态估计的置信度；与固定于末端的单一传感器相比，周期性滑动传感器能显著降低全身体形估计误差。
原文摘要 · Abstract (English)
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.
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