This is a short note to record the detailed guidance on how to set, upgrade and customize this site.

This is to thoroughly exam the details to calculate the kalmann gain and others of state estimation problem and data fusion, mathematically.

Trying to replace the dense point clouds of 2-dim tactile contacts with Gaussian process implicit surface for shape representation, but before that I got walk through basic mathematics here.

It includes a rotary descision based on the local curvature prediction from BSpline curve, and displacement on normal direction based on PID controller and constant tangential movement.

Implementing a ros node to acquire the distal joint status in real-time based on libfranka, which includes a defined motion generator callback in control loop and smoonthing on commands.

A final version of manucript on whisker-inpired tactile sensing, which includes basic system intergation, tip contact estimation and active tactile servoing.