# State Estimation for a Hybrid Rigid-Continuum Space Manipulator System

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/m0fgo6dmsq9iab24biljk1dqr
- Original: https://arxiv.org/abs/2610.37043

## Summary

This study proposes a state reconstruction pipeline for a hybrid rigid-continuum space manipulator whose distal link is a tendon-driven continuum robot. The method formulates the estimation problem as maximum a posteriori inference conditioned on joint encoders and vision measurements, transcribes it as a factor graph, fuses heterogeneous measurements with the rigid-soft kinematic model, and uses the Geometric Variable Strain (GVS) approach to obtain a minimum-order parameterization of the configuration. Closed-loop trajectory simulations verified the state reconstruction accuracy and computational performance.