{"id":"https://openalex.org/W2957867528","doi":"https://doi.org/10.1109/lra.2019.2927943","title":"Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model","display_name":"Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model","publication_year":2019,"publication_date":"2019-07-10","ids":{"openalex":"https://openalex.org/W2957867528","doi":"https://doi.org/10.1109/lra.2019.2927943","mag":"2957867528"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2927943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2927943","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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"},"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/A5044871255","display_name":"Bastian Deutschmann","orcid":"https://orcid.org/0000-0002-9139-5719"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Bastian Deutschmann","raw_affiliation_strings":["Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]"],"affiliations":[{"raw_affiliation_string":"Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008690489","display_name":"Maxime Chalon","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maxime Chalon","raw_affiliation_strings":["Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]"],"affiliations":[{"raw_affiliation_string":"Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003601226","display_name":"Jens Reinecke","orcid":"https://orcid.org/0000-0001-9256-0766"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Reinecke","raw_affiliation_strings":["Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]"],"affiliations":[{"raw_affiliation_string":"Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090971246","display_name":"Maximilian Maier","orcid":"https://orcid.org/0000-0003-2698-9198"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Maier","raw_affiliation_strings":["Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]"],"affiliations":[{"raw_affiliation_string":"Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]"],"affiliations":[{"raw_affiliation_string":"Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"[Deutsches Zentrum fur Luft und Raumfahrt Standort Bonn, Bonn, Nordrhein-Westfalen, DE]","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044871255"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.8803,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.71623082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4","issue":"4","first_page":"3425","last_page":"3432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9926999807357788,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9805999994277954,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/observability","display_name":"Observability","score":0.6972360014915466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5352504849433899},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5238425731658936},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5016095638275146},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.49081024527549744},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48326045274734497},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4756338596343994},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.44313275814056396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3597196936607361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30043846368789673},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23601049184799194},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22502273321151733},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14918074011802673},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.11151584982872009}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6972360014915466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5352504849433899},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5238425731658936},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5016095638275146},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.49081024527549744},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48326045274734497},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4756338596343994},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.44313275814056396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3597196936607361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30043846368789673},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23601049184799194},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22502273321151733},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14918074011802673},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.11151584982872009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2927943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2927943","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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"},{"id":"pmh:oai:elib.dlr.de:132653","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Zeitschriftenbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1586443804","https://openalex.org/W1617736034","https://openalex.org/W1989846092","https://openalex.org/W2019428733","https://openalex.org/W2053265216","https://openalex.org/W2053614949","https://openalex.org/W2074384989","https://openalex.org/W2079038758","https://openalex.org/W2087591930","https://openalex.org/W2096645690","https://openalex.org/W2107612715","https://openalex.org/W2119343887","https://openalex.org/W2125497630","https://openalex.org/W2128831103","https://openalex.org/W2140998418","https://openalex.org/W2170018377","https://openalex.org/W2328731921","https://openalex.org/W2410401331","https://openalex.org/W2416853963","https://openalex.org/W2419602188","https://openalex.org/W2544641369","https://openalex.org/W2588052119","https://openalex.org/W2589847876","https://openalex.org/W2739130641","https://openalex.org/W2739437116","https://openalex.org/W2773367425","https://openalex.org/W2783895545","https://openalex.org/W2800264450","https://openalex.org/W2866883984","https://openalex.org/W4241459016","https://openalex.org/W6672252653"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W4206221578","https://openalex.org/W2785359964","https://openalex.org/W2382856674"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"the":[3,31,59,79,83,91,94,114,123,130,142,147,161,165],"application":[4],"of":[5,18,30,78,93,132],"continuum":[6,32,65],"mechanisms":[7],"increased":[8],"as":[9],"they":[10],"provide":[11],"high":[12],"dexterity,":[13],"consume":[14],"a":[15,27,64,73,87,108,133],"low":[16],"amount":[17],"space,":[19],"and":[20,119,141],"handle":[21],"unforeseen":[22],"collisions":[23],"with":[24,58,86],"ease.":[25],"Typically,":[26],"deformation":[28,74],"model":[29],"is":[33,117,150],"applied":[34],"to":[35,82,145,176],"compute":[36],"task":[37],"space":[38],"poses":[39],"from":[40],"actuator":[41],"variables.":[42],"However,":[43],"simple":[44],"models":[45,51],"usually":[46],"lack":[47],"accuracy,":[48],"whereas":[49,90],"accurate":[50],"are":[52,104,154],"computationally":[53],"demanding.":[54],"This":[55],"letter":[56],"deals":[57],"pose":[60,127,148],"estimation":[61,149,167],"problem":[62],"for":[63,125],"mechanism":[66],"based":[67,112],"on":[68,113,157],"length":[69,95,143],"sensors":[70,80,96,144,163],"without":[71],"using":[72],"model.":[75],"A":[76],"subset":[77],"belongs":[81],"actuating":[84],"tendons":[85],"fixed":[88],"routing,":[89],"rest":[92],"can":[97,169],"be":[98,170],"placed":[99,178],"freely.":[100],"Two":[101],"major":[102],"issues":[103],"discussed.":[105],"At":[106],"first,":[107],"sensor":[109,134],"placement":[110],"strategy":[111],"coupling":[115],"matrix":[116],"derived":[118],"discussed,":[120],"which":[121],"improves":[122],"observability":[124],"static":[126],"estimation.":[128],"Second,":[129],"feasibility":[131],"fusion":[135],"between":[136],"an":[137],"inertial":[138],"measurement":[139],"unit":[140],"enhance":[146],"presented.":[151],"Both":[152],"investigations":[153],"done":[155],"experimentally":[156],"DAVID.":[158],"By":[159],"placing":[160],"additional":[162],"correctly,":[164],"maximum":[166],"error":[168],"lowered":[171],"by":[172],"50%":[173],"in":[174],"comparison":[175],"poorly":[177],"sensors.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
