{"id":"https://openalex.org/W4408564252","doi":"https://doi.org/10.1109/lra.2025.3553048","title":"Pose Estimation of Magnetically Driven Helical Robots With Eye-in-Hand Magnetic Sensing","display_name":"Pose Estimation of Magnetically Driven Helical Robots With Eye-in-Hand Magnetic Sensing","publication_year":2025,"publication_date":"2025-03-18","ids":{"openalex":"https://openalex.org/W4408564252","doi":"https://doi.org/10.1109/lra.2025.3553048"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3553048","doi":"https://doi.org/10.1109/lra.2025.3553048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553048","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085750276","display_name":"Yong Zeng","orcid":"https://orcid.org/0000-0002-7218-0886","observed_orcids":["https://orcid.org/0000-0002-7218-0886"]},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Zeng","raw_affiliation_strings":["State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guangyu Chen","orcid":"https://orcid.org/0009-0008-6784-0617","observed_orcids":["https://orcid.org/0009-0008-6784-0617"]},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyu Chen","raw_affiliation_strings":["State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0008-6784-0617","affiliations":[{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059918825","display_name":"Haoxiang Lian","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoxiang Lian","raw_affiliation_strings":["State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031863894","display_name":"Kun Bai","orcid":"https://orcid.org/0000-0003-4716-3774","observed_orcids":["https://orcid.org/0000-0003-4716-3774"]},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Bai","raw_affiliation_strings":["State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4716-3774","affiliations":[{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"State Key Lab. of intelligent Manufacturing Equipment and Technology (iMET), Huazhong Univ. of Sci. and Tech., Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.5748,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81335068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":"5","first_page":"4604","last_page":"4611"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.5737000107765198,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.5737000107765198,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12692","display_name":"Magnetic Field Sensors Techniques","score":0.16740000247955322,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.12559999525547028,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pose-estimation","display_name":"pose estimation","score":0.6830000281333923},{"id":"https://openalex.org/keywords/magnetic-sensing","display_name":"magnetic field sensing","score":0.7820000052452087},{"id":"https://openalex.org/keywords/rotating-magnetic-field","display_name":"rotating magnetic field","score":0.8989999890327454},{"id":"https://openalex.org/keywords/permanent-magnets","display_name":"permanent magnets","score":0.5820000171661377},{"id":"https://openalex.org/keywords/magnetic-field-models","display_name":"magnetic field models","score":0.6919999718666077},{"id":"https://openalex.org/keywords/sensor-arrays","display_name":"sensor arrays","score":0.7860000133514404},{"id":"https://openalex.org/keywords/real-time-pose-tracking","display_name":"real-time pose tracking","score":0.7170000076293945}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5662637948989868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46011167764663696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44587141275405884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4256945252418518},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.341410756111145}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3553048","doi":"https://doi.org/10.1109/lra.2025.3553048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553048","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G6532674483","display_name":null,"funder_award_id":"U24A20130","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1587441778","https://openalex.org/W1981586643","https://openalex.org/W1993086849","https://openalex.org/W1997101761","https://openalex.org/W2034496519","https://openalex.org/W2055573331","https://openalex.org/W2073117643","https://openalex.org/W2161168135","https://openalex.org/W2161425799","https://openalex.org/W2214574468","https://openalex.org/W2292347270","https://openalex.org/W2333051748","https://openalex.org/W2607087121","https://openalex.org/W2735010709","https://openalex.org/W2763257153","https://openalex.org/W2800913197","https://openalex.org/W2907543193","https://openalex.org/W2944033464","https://openalex.org/W2945906781","https://openalex.org/W2969184044","https://openalex.org/W3000444472","https://openalex.org/W3090906558","https://openalex.org/W3115599775","https://openalex.org/W3123652698","https://openalex.org/W4206675550","https://openalex.org/W4285170385","https://openalex.org/W4290717384","https://openalex.org/W4313009910","https://openalex.org/W4378772057","https://openalex.org/W4385691121","https://openalex.org/W4387986911"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,67,98,125,146],"magnetic-based":[4],"pose":[5,19,36,79,152],"sensing":[6,153],"method":[7,119,135],"for":[8,66,149,154],"magnetically":[9,126,156],"driven":[10,157],"helical":[11,34,158],"robots.":[12,159],"Unlike":[13],"conventional":[14],"methods":[15],"that":[16,133],"directly":[17],"compute":[18],"from":[20,37],"magnetic":[21,28,40,54,63],"field":[22,29,41,55,64],"measurements,":[23],"the":[24,33,38,44,48,52,57,85,88,130],"proposed":[25,118],"approach":[26],"decouples":[27],"components":[30],"caused":[31],"by":[32,42,81],"robot's":[35],"rotating":[39,53,58],"deriving":[43],"analytic":[45],"relationship":[46],"between":[47],"spatial":[49],"characteristics":[50],"of":[51,87,142],"and":[56,94,114,129,144],"permanent":[59],"magnet":[60],"(PM).":[61],"A":[62],"model":[65],"dual-rotating":[68],"PM":[69],"system":[70],"is":[71,105],"established":[72],"under":[73],"quasi-static":[74],"driving":[75,89,127],"conditions,":[76],"enabling":[77],"real-time":[78,151],"estimation":[80],"taking":[82],"account":[83],"into":[84],"effects":[86],"PM.":[90],"To":[91],"address":[92],"workspace":[93],"signal":[95],"quality":[96],"limitations,":[97],"mobile":[99],"sensor":[100],"array":[101],"in":[102,155],"eye-in-hand":[103],"configuration":[104],"presented,":[106],"achieving":[107],"follow-up":[108],"measurements":[109],"with":[110,139],"improved":[111],"signal-to-noise":[112],"ratio":[113],"high":[115],"precision.":[116],"The":[117],"has":[120],"been":[121],"validated":[122],"experimentally":[123],"on":[124],"platform":[128],"results":[131],"demonstrate":[132],"this":[134],"enables":[136],"large-range":[137],"tracking":[138],"limited":[140],"number":[141],"sensors":[143],"provides":[145],"robust":[147],"solution":[148],"continuous":[150]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1}],"updated_date":"2026-10-12T09:40:04.860316","created_date":"2025-10-10T00:00:00"}