Observability-Informed Optimal Sensor Placement for Soft Robots

arXiv:2609.33681 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Comments: Published in IEEE Robosoft 2026. 8 pages, 4 figures, 6 tables

Journal ref: Proc. IEEE Int. Conf. Soft Robotics (RoboSoft) 2026, pp. 430-437

DOI: 10.1109/RoboSoft67810.2026.11522828

Code: https://github.com/macrobotics-lab/obsv-sens-plcmt

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Objective Function — 5× in this paper · explained in 2 episodes
• Generalizability — 3× in this paper · explained in 6 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Reconstruction Error — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• System Identification — 1× in this paper · explained in 3 episodes

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