Reproduce “Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion” on OpenResearch
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About this paper
Zheng Cao, Guo Ning Sue, Xiangyun Bu, David Quinn, Junzhe Hu, Carmel Majidi
The system equips a continuum robot with IMUs and coil–magnetometer pairs to estimate its 3D backbone without external cameras. It combines continuously polled attitude estimates with intermittent magnetic corrections, reporting configuration updates at 16.7 Hz. Across four scenarios, fused estimates averaged 10.0 ± 3.2 mm backbone RMSE and 14.9 ± 6.5 mm tip RMSE; control was not independently validated.
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