Continuum Robot State Estimation with Actuation Uncertainty
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Continuum Robot State Estimation with Actuation Uncertainty
arXiv:2601.04493v3 Announce Type: replace Abstract: Continuum robots are flexible, slender manipulators well suited for confined surgical environments. In these settings, unknown interaction forces and model uncertainty significantly affect robot shape, motivating state estimation from external observations. Existing estimation methods either neglect actuation modeling or rely on simplified deterministic actuation models.