For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential for environmental interaction. We propose a method for simultaneous articulated robot posture estimation and environmental mapping by integrating data from proximity sensors distributed over the whole body. Our method extends the discrete-time model, typically used for state estimation, to the spatial direction of the articulated structure. The simulations demonstrate that this approach significantly reduces estimation errors.

While many tech firms are working to develop drones to carry goods, one firm believes a giant ball may be more suitable. FreeMotionHandling is a sphere-shaped autonomous vehicle filled with helium that can suck up objects using a'tongue'. The firm says it can pick ups and drop off items up to 400g. While many tech firms work to develop clunky drones to carry goods, one has designed a sphere-shaped autonomous vehicle filled with helium that sucks up objects. It uses an adaptive drive system to thrust itself in directions of rotation and craters for'dynamic flying behavior in all spatial direction. To get from one place to another, FreeMotionHandling uses and indoor tracking system of 10 infrared cameras.