Spencer Teetaert is a Ph.D. student co-supervised between the Autonomous Space Robotics Lab and the Continuum Robotics Lab. His research interest focuses on state estimation and localisation for continuum robots, particularly in situations where contact with the environment is expected.

Spencer has a B.A.Sc. in Engineering Science with a major in robotics from the University of Toronto. His undergraduate these was on the design of learning-based controllers for parallel continuum robots. Before his work in continuum robotics, Spencer did research at the Dynamic Systems Lab at the University of Toronto where he focused on development of cheap and accessible sim2real drone development platforms for research and educational purposes.

Awards

2025-2026 UofT Robotics Institute Fellow
2025-2026 Queen Elizabeth II Graduate Scholarship in Science & Technology
2024-2025 Ontario Graduate Scholarship

Publications

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A Sliding-Window Filter for Online Continuous-Time Continuum Robot State Estimation

Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot

IEEE-RAS International Conference on Soft Robotics (accepted), arXiv preprint arXiv:2510.26623, 2026.

DOI
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A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots

Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot

arXiv preprint arXiv:2510.01381, 2025.

DOI
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Space-Time Continuum - Continuous Shape and Time State Estimation for Flexible Robots

Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot

40th Anniversary of the IEEE International Conference on Robotics and Automation, 2024.

DOI