{"id":"https://openalex.org/W4291376875","doi":"https://doi.org/10.1109/iros47612.2022.9981637","title":"Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing","display_name":"Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4291376875","doi":"https://doi.org/10.1109/iros47612.2022.9981637"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981637","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2206.11626","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089614030","display_name":"Barnabas Gavin Cangan","orcid":"https://orcid.org/0000-0001-7810-6620"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210118101","display_name":"SoftBank Robotics (France)","ror":"https://ror.org/02msvh720","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210118101","https://openalex.org/I4210120159"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Barnabas Gavin Cangan","raw_affiliation_strings":["ETH Zurich,Soft Robotics Lab,Switzerland","Soft Robotics Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Soft Robotics Lab,Switzerland","institution_ids":["https://openalex.org/I4210118101"]},{"raw_affiliation_string":"Soft Robotics Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058517237","display_name":"Stefan Escaida Navarro","orcid":"https://orcid.org/0000-0003-1341-2066"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210138412","display_name":"Centre Inria de l'Universit\u00e9 de Lille","ror":"https://ror.org/04eej9726","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210138412"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stefan Escaida Navarro","raw_affiliation_strings":["INRIA,Lille,France","INRIA, Lille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA,Lille,France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, Lille, France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100599283","display_name":"Bai Yang","orcid":"https://orcid.org/0000-0002-3873-075X"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bai Yang","raw_affiliation_strings":["TU Berlin,Germany","TU Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"TU Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433375","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0001-5762-7726"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210118101","display_name":"SoftBank Robotics (France)","ror":"https://ror.org/02msvh720","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210118101","https://openalex.org/I4210120159"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["ETH Zurich,Soft Robotics Lab,Switzerland","Soft Robotics Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Soft Robotics Lab,Switzerland","institution_ids":["https://openalex.org/I4210118101"]},{"raw_affiliation_string":"Soft Robotics Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210138412","display_name":"Centre Inria de l'Universit\u00e9 de Lille","ror":"https://ror.org/04eej9726","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210138412"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Duriez","raw_affiliation_strings":["INRIA,Lille,France","INRIA, Lille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA,Lille,France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, Lille, France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050915314","display_name":"Robert K. Katzschmann","orcid":"https://orcid.org/0000-0001-7143-7259"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210118101","display_name":"SoftBank Robotics (France)","ror":"https://ror.org/02msvh720","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210118101","https://openalex.org/I4210120159"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Robert K. Katzschmann","raw_affiliation_strings":["ETH Zurich,Soft Robotics Lab,Switzerland","Soft Robotics Lab, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Soft Robotics Lab,Switzerland","institution_ids":["https://openalex.org/I4210118101"]},{"raw_affiliation_string":"Soft Robotics Lab, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1524,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.95710858,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9424","last_page":"9430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.988099992275238,"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/T11486","display_name":"Micro and Nano Robotics","score":0.970300018787384,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6677833199501038},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5768376588821411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5734568238258362},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5512076020240784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5413704514503479},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.509741485118866},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4986410140991211},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.46183159947395325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.460509717464447},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4536258280277252},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.44349145889282227},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.430787056684494},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.4302455484867096},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4271138906478882},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3461993336677551},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.32261914014816284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2961013913154602},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.1656915545463562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14469918608665466},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09703141450881958}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6677833199501038},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5768376588821411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5734568238258362},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5512076020240784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5413704514503479},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.509741485118866},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4986410140991211},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.46183159947395325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.460509717464447},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4536258280277252},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.44349145889282227},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.430787056684494},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.4302455484867096},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4271138906478882},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3461993336677551},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.32261914014816284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2961013913154602},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.1656915545463562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14469918608665466},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09703141450881958},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros47612.2022.9981637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981637","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2206.11626","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2206.11626","pdf_url":"https://arxiv.org/pdf/2206.11626","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-03749243v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-03749243","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022","raw_type":"Preprints, Working Papers, ..."}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2206.11626","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2206.11626","pdf_url":"https://arxiv.org/pdf/2206.11626","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1902605501","https://openalex.org/W2205969003","https://openalex.org/W2550766522","https://openalex.org/W2768326939","https://openalex.org/W2870735678","https://openalex.org/W2910334216","https://openalex.org/W2919013143","https://openalex.org/W2930142071","https://openalex.org/W2968093189","https://openalex.org/W2968093824","https://openalex.org/W2997289456","https://openalex.org/W3037969311","https://openalex.org/W3131168342","https://openalex.org/W3138075616","https://openalex.org/W3142099226","https://openalex.org/W3157853607","https://openalex.org/W3209224731"],"related_works":["https://openalex.org/W2375706956","https://openalex.org/W1996212220","https://openalex.org/W2322736056","https://openalex.org/W2391287140","https://openalex.org/W2374158927","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W4312269480","https://openalex.org/W3167406254","https://openalex.org/W2994782193"],"abstract_inverted_index":{"To":[0],"aid":[1],"in":[2,35,104,121,215,291],"real-world":[3],"situations,":[4],"soft":[5,26,73,118,129,146,216,280],"robots":[6,281],"need":[7],"to":[8,11,28,56,176,222,242],"be":[9,289],"able":[10],"estimate":[12],"their":[13,64],"state":[14,179],"and":[15,155],"external":[16,247],"interactions":[17],"based":[18,70,112],"on":[19,71,81],"proprioceptive":[20],"sensors.":[21],"Estimating":[22],"disturbances":[23],"allows":[24,114],"a":[25,49,82,122,139,144,162,178,236],"robot":[27,119,130],"perform":[29],"desirable":[30],"force":[31,41,248,259],"control.":[32],"However,":[33],"even":[34],"the":[36,44,78,98,128,134,182,191,226,244,251,266,276],"case":[37],"of":[38,97,117,133,143,151,193,210,225,246,262,278],"rigid":[39],"manipulators,":[40],"estimation":[42,260],"at":[43],"end-effector":[45],"is":[46,170,174,187],"seen":[47],"as":[48,77,197,199],"non-trivial":[50],"problem.":[51,99],"And":[52],"indeed,":[53],"current":[54],"approaches":[55],"address":[57],"this":[58],"challenge":[59],"have":[60],"shortcomings":[61],"that":[62,91,166,249,287],"prevent":[63],"general":[65],"application.":[66],"They":[67],"are":[68,212,269,273],"often":[69],"simplified":[72],"dynamic":[74],"models,":[75],"such":[76],"ones":[79],"relying":[80],"piece-wise":[83],"constant":[84],"curvature":[85],"approximation":[86],"or":[87,204],"matched":[88],"rigid-body":[89],"models":[90],"do":[92],"not":[93],"represent":[94],"enough":[95],"details":[96],"This":[100,172],"severely":[101],"limits":[102],"applications":[103],"complex":[105],"human-robot":[106],"interaction.":[107],"Finite":[108],"element":[109],"method":[110],"(FEM)":[111],"modeling":[113,131],"for":[115,164,181,189,275],"predictions":[116],"dynamics":[120],"more":[123],"generic":[124],"fashion.":[125],"Here,":[126],"using":[127,230],"capabilities":[132],"frame-work":[135],"SOFA,":[136],"we":[137],"built":[138],"detailed":[140],"FEM":[141],"model":[142,163,173,186],"multi-segment":[145],"continuum":[147],"robotic":[148],"arm":[149],"composed":[150],"compliant":[152],"deformable":[153],"materials":[154],"fiber-reinforced":[156],"pressurized":[157],"actuation":[158],"chambers.":[159],"In":[160],"addition,":[161],"sensors":[165,196],"provide":[167],"orientation":[168],"output":[169,192],"presented.":[171],"used":[175],"establish":[177],"observer":[180],"manipulator.":[183],"The":[184],"sensor":[185],"adequate":[188],"representing":[190],"flexible":[194],"bend":[195],"well":[198],"orientations":[200],"provided":[201],"by":[202],"IMUs":[203],"coming":[205],"from":[206],"tracking":[207],"systems,":[208],"all":[209],"which":[211],"popular":[213],"choices":[214],"robotics.":[217],"Model":[218],"parameters":[219],"were":[220],"calibrated":[221],"match":[223],"imperfections":[224],"manual":[227],"fabrication":[228],"process":[229],"physical":[231],"experiments.":[232],"We":[233],"then":[234],"solve":[235],"quadratic":[237],"programming":[238],"inverse":[239],"statics":[240],"problem":[241],"compute":[243],"components":[245],"explain":[250],"pose":[252],"mismatch.":[253],"Our":[254],"experiments":[255],"show":[256],"an":[257],"average":[258],"error":[261],"around":[263],"1.2%.":[264],"As":[265],"methods":[267],"proposed":[268],"generic,":[270],"these":[271],"results":[272],"encouraging":[274],"task":[277],"building":[279],"exhibiting":[282],"complex,":[283],"reactive,":[284],"sensor-based":[285],"behavior":[286],"can":[288],"deployed":[290],"human-centered":[292],"environments.":[293]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}