Simulation for the following paper. [ Ссылка ]

[1] Tongjia Zheng, Qing Han, and Hai Lin. "Full State Estimation of Soft Robots From Tip Velocities: A Cosserat-Theoretic Boundary Observer." arXiv preprint arXiv:2303.06130 (2023).

Simulation description: This boundary observer estimates all the soft robot states (poses, strains, velocities) using the Cosserate rod theory and only the tip velocities.

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