Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion
The system estimates a continuum robot's 3D pose using only internal sensors—an IMU and magnetic fields—without needing external cameras. It fuses data from nine modules, achieving a real-time update rate of 16.7 Hz by combining inertial measurements with magnetic field references to accurately track the robot's configuration during operation.