{"id":"https://openalex.org/W3130677454","doi":"https://doi.org/10.1109/iros45743.2020.9341136","title":"IMU-based Parameter Identification and Position Estimation in Twisted String Actuators","display_name":"IMU-based Parameter Identification and Position Estimation in Twisted String Actuators","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130677454","doi":"https://doi.org/10.1109/iros45743.2020.9341136","mag":"3130677454"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"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/A5026030084","display_name":"Simeon Nedelchev","orcid":"https://orcid.org/0000-0003-1588-8260"},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Simeon Nedelchev","raw_affiliation_strings":["Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020193360","display_name":"Daniil Kirsanov","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Daniil Kirsanov","raw_affiliation_strings":["Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023663334","display_name":"Igor Gaponov","orcid":"https://orcid.org/0000-0001-8824-578X"},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Igor Gaponov","raw_affiliation_strings":["Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026030084"],"corresponding_institution_ids":["https://openalex.org/I4210116741"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.16467094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"6311","last_page":"6317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/control-theory","display_name":"Control theory (sociology)","score":0.7589575052261353},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7089370489120483},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6497223377227783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.582878053188324},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5753284692764282},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.5574620962142944},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5563294291496277},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5304267406463623},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5127445459365845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4565526843070984},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4549122154712677},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4547698497772217},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4260757863521576},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41757088899612427},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25346577167510986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2298748791217804},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1926746368408203},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1576186716556549}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7589575052261353},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7089370489120483},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6497223377227783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.582878053188324},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5753284692764282},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.5574620962142944},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5563294291496277},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5304267406463623},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5127445459365845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4565526843070984},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4549122154712677},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4547698497772217},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4260757863521576},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41757088899612427},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25346577167510986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2298748791217804},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1926746368408203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1576186716556549},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324099","display_name":"Russian Science Foundation","ror":"https://ror.org/03y2gwe85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2004943774","https://openalex.org/W2016960362","https://openalex.org/W2087070363","https://openalex.org/W2105944614","https://openalex.org/W2110329120","https://openalex.org/W2129276668","https://openalex.org/W2149416133","https://openalex.org/W2331577291","https://openalex.org/W2340876066","https://openalex.org/W2570357259","https://openalex.org/W2752307972","https://openalex.org/W2905743255","https://openalex.org/W2960151612","https://openalex.org/W2967646938","https://openalex.org/W2968507602","https://openalex.org/W2996327486","https://openalex.org/W2996650081","https://openalex.org/W3002103097","https://openalex.org/W6772427883"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W2109516765"],"abstract_inverted_index":{"This":[0,89],"study":[1],"proposes":[2],"a":[3,31,46],"technique":[4,90],"to":[5,41,94],"estimate":[6],"the":[7,26,57,74,96,102,111],"output":[8],"state":[9],"of":[10,25,52,98,104,113],"twisted":[11],"string":[12,53],"actuators":[13],"(TSAs)":[14],"based":[15],"on":[16],"payload's":[17],"acceleration":[18],"measurements.":[19],"We":[20],"outline":[21],"differential":[22],"kinematics":[23],"relationships":[24],"actuator,":[27],"re-formulate":[28],"these":[29],"into":[30],"nonlinear":[32],"parameter":[33],"identification":[34],"problem":[35],"and":[36,86,118,126],"then":[37],"apply":[38],"linearization":[39],"techniques":[40],"efficiently":[42],"solve":[43],"it":[44],"as":[45],"quadratic":[47],"program.":[48],"Using":[49],"accurate":[50,78],"estimates":[51],"parameters":[54],"obtained":[55],"with":[56,65,110],"proposed":[58,75],"method,":[59],"we":[60],"can":[61,91],"predict":[62],"TSA":[63],"position":[64,106],"sub-millimeter":[66],"accuracy":[67,97],"via":[68],"conventional":[69],"kinematic":[70],"relationships.":[71],"In":[72],"addition,":[73],"method":[76],"supports":[77],"estimation":[79],"under":[80],"varying":[81],"operating":[82],"conditions,":[83],"unpredictable":[84],"perturbations,":[85],"poorly-excited":[87],"trajectories.":[88],"be":[92],"employed":[93],"improve":[95],"trajectory":[99],"tracking":[100],"when":[101],"use":[103],"direct":[105],"measurements":[107],"is":[108],"challenging,":[109],"list":[112],"potential":[114],"applications":[115],"including":[116],"flexible":[117],"soft":[119],"robots,":[120,123],"long-span":[121],"cable":[122],"multi-DOF":[124],"joints":[125],"others.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}
