Real-time Estimator of Actuator Control and Health (REACH) on an Eel-Inspired Soft Robot
REACH is an actuator health estimation algorithm for an eel-inspired soft robot using a Sigma Point Kalman Filter. It estimates actuator health by comparing actual to desired torque output, defined as a ratio from zero (failure) to one (full functionality). Experimental validation showed the bend sensor is superior to GPS and IMU for local health estimation, performing well across three swimming gaits.