Lecture

6N-DoF Pose Tracking for Tensegrity Robots

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Description

This lecture discusses the challenges of 6N-DoF pose tracking for tensegrity robots, which are composed of compressive and flexible elements. The method proposed involves an iterative optimization process enforcing physical constraints to improve fidelity, achieving less than 1 cm translation error and 3 deg rotation error on average. The results show robustness to sensor noise and self-occlusions, enabling downstream tasks like real2sim2 real, feedback control, and multi-robot coordination.

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