[Submitted on 14 Sep 2026]
Title:Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation
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Abstract:Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrastructure, limiting their adaptability and real-world deployment. This paper presents a self-contained modular continuum robotic platform that combines mechanical reconfigurability with onboard pose estimation. The robot is constructed from interchangeable continuum joints with analytically precomputed stiffness, allowing rapid assembly and direct programming of the robot shape. Proprioceptive sensing is achieved using magnetic sensors and a modular learning-based framework, where a single model is trained per joint and reused across configurations. The system is experimentally validated in real world, demonstrating self-sensing capabilities and adaptation without external tracking.
Subjects:
Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2609.16256 [cs.RO]
(or arXiv:2609.16256v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.16256
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Guo Ning Sue [view email] [v1] Mon, 14 Sep 2026 19:21:09 UTC (2,039 KB)
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