Simulation and State Estimation of Soft Continuum Robots
Abstract
Robots have conquered industrial production and living rooms all around the world. However, some applications require inherent safety and the ability to reach into confined spaces, such as the human body or narrow machines. A special class of slender robots that are composed of soft, deformable material — soft continuum robots — may address these requirements. While their design is promising for said applications, their dynamic motions are highly complex and challenging to capture. Therefore, this thesis is concerned with fundamental challenges of soft continuum robots: fast physics simulations and state estimation.
Details
- betreut von
- Thomas Seel
- Organisationseinheit(en)
-
Institut für Mechatronische Systeme
- Typ
- Dissertation
- Anzahl der Seiten
- 143
- Publikationsdatum
- 06.05.2026
- Publikationsstatus
- Veröffentlicht
- Elektronische Version(en)
-
https://doi.org/10.15488/21152 (Zugang:
Offen
)