Toward Autonomous Continuum Robots: Modeling, State Estimation, and Control

Abstract:

Unlike conventional robots composed of rigid links and discrete joints, continuum robots draw inspiration from nature, resembling elephant trunks, snakes, or worms. With their compact form factor and ability to bend into highly nonlinear shapes, continuum robots can access spaces that traditional robots cannot, enabling navigation in cluttered or confined environments. This makes them particularly well-suited for applications such as minimally invasive surgery, in-situ industrial inspection and maintenance, and search-and-rescue operations in disaster zones. While significant progress has been made in continuum robot design, the next major challenge lies in developing robust algorithms for autonomous navigation and manipulation in constrained and uncertain environments. In this talk, I will present recent research on the modeling, state estimation, and control of continuum robots, aimed at advancing their autonomy and real-world deployment.

Speaker Bio:

Dr. Sven Lilge is an incoming Assistant Professor in the Department of Computer Science at Toronto Metropolitan University. He is currently a Postdoctoral Fellow in the Autonomous Space Robotics Laboratory at the University of Toronto Robotics Institute. He earned his Ph.D. in Computer Science from the University of Toronto, and both his B.Sc. and M.Sc. in Electrical Engineering and Information Technology from Leibniz University Hannover, Germany. Sven’s research focuses on continuum robots, with an emphasis on modeling, state estimation, and control. His work has been published in leading robotics journals, including IEEE Transactions on Robotics and The International Journal of Robotics Research. In recognition of his contributions to the field, he was named a Robotics: Science and Systems Pioneer in 2023.