{"id":"https://openalex.org/W2997336620","doi":"https://doi.org/10.1109/lra.2020.2983699","title":"Inverse Statics Optimization for Compound Tensegrity Robots","display_name":"Inverse Statics Optimization for Compound Tensegrity Robots","publication_year":2020,"publication_date":"2020-03-30","ids":{"openalex":"https://openalex.org/W2997336620","doi":"https://doi.org/10.1109/lra.2020.2983699","mag":"2997336620"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2983699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983699","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1808.08252","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042202916","display_name":"Andrew P. Sabelhaus","orcid":"https://orcid.org/0000-0001-5019-2846"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew P. Sabelhaus","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0001-5019-2846","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045709589","display_name":"Albert H. Li","orcid":"https://orcid.org/0000-0001-8264-7868"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert H. Li","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0001-8264-7868","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080849432","display_name":"Kimberly A. Sover","orcid":"https://orcid.org/0000-0002-8485-3988"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kimberly A. Sover","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0002-8485-3988","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083363589","display_name":"Jacob Madden","orcid":"https://orcid.org/0000-0002-4431-5923"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob R. Madden","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0002-4431-5923","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051176473","display_name":"Andrew R. Barkan","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew R. Barkan","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047563625","display_name":"Adrian Agogino","orcid":"https://orcid.org/0000-0002-6802-4477"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adrian K. Agogino","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","Intelligent Systems Division, NASA Ames Research Center, Moffet Field, Mountain View, USA","[Intelligent Systems Division, NASA Ames Research Center, Moffet Field, Mountain View, USA]"],"raw_orcid":"https://orcid.org/0000-0002-6802-4477","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Intelligent Systems Division, NASA Ames Research Center, Moffet Field, Mountain View, USA","institution_ids":["https://openalex.org/I1280536761"]},{"raw_affiliation_string":"[Intelligent Systems Division, NASA Ames Research Center, Moffet Field, Mountain View, USA]","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108365897","display_name":"Alice M. Agogino","orcid":null},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alice M. Agogino","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","Intelligent Systems Division, NASA Ames Research Center, Moffet Field, Mountain View, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Intelligent Systems Division, NASA Ames Research Center, Moffet Field, Mountain View, USA","institution_ids":["https://openalex.org/I1280536761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5042202916"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.1463,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44961306,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5","issue":"3","first_page":"3982","last_page":"3989"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9941999912261963,"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"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9923999905586243,"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/tensegrity","display_name":"Tensegrity","score":0.9955999851226807},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.896274745464325},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7912752032279968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4545849561691284},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.41259488463401794},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3610360324382782},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.32038530707359314},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16909879446029663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13945552706718445},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1266174614429474},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0748123824596405},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07008492946624756}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9955999851226807},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.896274745464325},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7912752032279968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4545849561691284},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.41259488463401794},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3610360324382782},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.32038530707359314},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16909879446029663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13945552706718445},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1266174614429474},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0748123824596405},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07008492946624756}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.2983699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983699","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:arXiv.org:1808.08252","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1808.08252","pdf_url":"https://arxiv.org/pdf/1808.08252","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":"","raw_type":null},{"id":"mag:2997336620","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1808.08252","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1808.08252","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1808.08252","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1808.08252","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1808.08252","pdf_url":"https://arxiv.org/pdf/1808.08252","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":"","raw_type":null},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2296037782","display_name":null,"funder_award_id":"NNX15AQ55H","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332374","display_name":"Ames Research Center","ror":"https://ror.org/02acart68"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2997336620.pdf","grobid_xml":"https://content.openalex.org/works/W2997336620.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1499925623","https://openalex.org/W1590980019","https://openalex.org/W1826399803","https://openalex.org/W1996028840","https://openalex.org/W2001124350","https://openalex.org/W2003568120","https://openalex.org/W2009253904","https://openalex.org/W2036390897","https://openalex.org/W2046636826","https://openalex.org/W2048233781","https://openalex.org/W2060046440","https://openalex.org/W2085267187","https://openalex.org/W2089279464","https://openalex.org/W2091279526","https://openalex.org/W2105716525","https://openalex.org/W2109230968","https://openalex.org/W2111224243","https://openalex.org/W2112056027","https://openalex.org/W2157247055","https://openalex.org/W2158730742","https://openalex.org/W2160035751","https://openalex.org/W2165530525","https://openalex.org/W2197865343","https://openalex.org/W2198355680","https://openalex.org/W2270090518","https://openalex.org/W2525965737","https://openalex.org/W2560730116","https://openalex.org/W2567071166","https://openalex.org/W2572056482","https://openalex.org/W2611929069","https://openalex.org/W2734808269","https://openalex.org/W2766308104","https://openalex.org/W2809954755","https://openalex.org/W2890731859","https://openalex.org/W2892120334","https://openalex.org/W2901923113","https://openalex.org/W2909067076","https://openalex.org/W2910302202","https://openalex.org/W2936498777","https://openalex.org/W2946726776","https://openalex.org/W2962743868","https://openalex.org/W2963939957","https://openalex.org/W2980324133","https://openalex.org/W3008232131","https://openalex.org/W3152254625","https://openalex.org/W4242499937","https://openalex.org/W6754626593"],"related_works":["https://openalex.org/W3008232131","https://openalex.org/W3039713086","https://openalex.org/W3202609204","https://openalex.org/W3082308989","https://openalex.org/W3115298964","https://openalex.org/W3042717607","https://openalex.org/W3208436578","https://openalex.org/W2157247055","https://openalex.org/W2508900105","https://openalex.org/W1978849564","https://openalex.org/W2947468683","https://openalex.org/W2038054381","https://openalex.org/W2778185174","https://openalex.org/W2792607838","https://openalex.org/W1529870078","https://openalex.org/W2900788705","https://openalex.org/W2950197485","https://openalex.org/W22646549","https://openalex.org/W1964550498","https://openalex.org/W2963410588"],"abstract_inverted_index":{"Robots":[0],"built":[1,145],"from":[2,76,146],"cable-driven":[3],"tensegrity":[4,34,72,85,136],"(`tension-integrity')":[5],"structures":[6],"have":[7],"many":[8],"of":[9,12,92,132,154,166],"the":[10,51,77,90,97,128,152,155,164],"advantages":[11],"soft":[13],"robots,":[14,59],"such":[15,58],"as":[16,62,107],"flexibility":[17],"and":[18,25,130,141],"robustness,":[19],"yet":[20],"still":[21],"obey":[22],"simple":[23],"statics":[24,120,157],"dynamics":[26],"models.":[27],"However,":[28],"existing":[29],"approaches":[30],"cannot":[31],"natively":[32],"model":[33,69,158],"robots":[35,73],"with":[36,83,112],"arbitrary":[37],"rigid":[38],"bodies":[39],"in":[40,54,96],"their":[41],"tension":[42,94],"network.":[43],"This":[44],"work":[45],"presents":[46],"a":[47,66,108,138,142,160],"method":[48,81],"to":[49],"calculate":[50],"cable":[52],"tensions":[53],"static":[55,67],"equilibrium":[56,68],"for":[57,70,126],"here":[60],"defined":[61],"compound":[63,71,135],"tensegrities.":[64],"First,":[65],"is":[74,105],"reformulated":[75],"standard":[78],"force":[79],"density":[80],"used":[82,125],"other":[84],"structures.":[86],"Next,":[87],"we":[88,150],"pose":[89],"problem":[91,111,122],"calculating":[93],"forces":[95],"robot's":[98],"cables":[99],"under":[100],"our":[101,171],"model.":[102],"A":[103],"solution":[104],"proposed":[106],"quadratic":[109],"optimization":[110,121],"practical":[113],"constraints.":[114],"Simulations":[115],"illustrate":[116],"how":[117],"this":[118],"inverse":[119,156],"can":[123],"be":[124],"both":[127],"design":[129],"control":[131,169],"two":[133],"different":[134],"applications:":[137],"spine":[139],"robot":[140,144],"quadruped":[143],"that":[147],"spine.":[148],"Finally,":[149],"verify":[151],"accuracy":[153],"through":[159],"hardware":[161],"experiment,":[162],"demonstrating":[163],"feasibility":[165],"low-error":[167],"open-loop":[168],"using":[170],"methodology.":[172]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
