Open access
2026
Manifold-Constrained Visual Odometry for Soft Worm-Inspired Robots in Pipe-Inspection Tasks
Feature tracking for soft robot state estimation is challenging due to inherent structural unpredictability. This paper presents a cylindrically constrained Visual Odometry (VO) framework for soft, worm-like robots navigating pipes. Leveraging periodic inchworm gaits, the algorithm predicts robot motion between gait cy...
G. Blewitt, D. Cheneler, Jeremy Andrew et al.
· IEEE Access · 0 citations