{"id":"https://openalex.org/W4214821834","doi":"https://doi.org/10.1109/lra.2022.3155195","title":"Forward Statics of Tensegrity Robots With Rigid Bodies Using Homotopy Continuation","display_name":"Forward Statics of Tensegrity Robots With Rigid Bodies Using Homotopy Continuation","publication_year":2022,"publication_date":"2022-03-01","ids":{"openalex":"https://openalex.org/W4214821834","doi":"https://doi.org/10.1109/lra.2022.3155195"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3155195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3155195","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/A5068867991","display_name":"Jiahui Luo","orcid":"https://orcid.org/0000-0002-8759-1565"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiahui Luo","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087353591","display_name":"Zhigang Wu","orcid":"https://orcid.org/0000-0002-6782-9249"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigang Wu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031122489","display_name":"Xiaoming Xu","orcid":"https://orcid.org/0000-0001-6153-8742"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoming Xu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102824030","display_name":"Yanghui Chen","orcid":"https://orcid.org/0000-0002-0960-9280"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanghui Chen","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029176746","display_name":"Zizhe Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zizhe Liu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103095998","display_name":"Ming Li","orcid":"https://orcid.org/0000-0002-9980-0678"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Ming","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068867991"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":1.9069,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83686808,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"5183","last_page":"5190"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9976999759674072,"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":0.9976999759674072,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.9842015504837036},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.8200880289077759},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6600170135498047},{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.5427475571632385},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.436110258102417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4208931624889374},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39754366874694824},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.38376083970069885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2774626612663269},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19715160131454468},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.16197055578231812},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.14111822843551636},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12956270575523376},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1146078109741211}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9842015504837036},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.8200880289077759},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6600170135498047},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.5427475571632385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.436110258102417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4208931624889374},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39754366874694824},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.38376083970069885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2774626612663269},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19715160131454468},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.16197055578231812},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.14111822843551636},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12956270575523376},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1146078109741211}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3155195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3155195","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2687747823","display_name":null,"funder_award_id":"91748203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5032011375","display_name":null,"funder_award_id":"12002396","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W28944787","https://openalex.org/W41341799","https://openalex.org/W95619791","https://openalex.org/W803764924","https://openalex.org/W1570420806","https://openalex.org/W1975226747","https://openalex.org/W1977754841","https://openalex.org/W1989289404","https://openalex.org/W1996028840","https://openalex.org/W2028576930","https://openalex.org/W2055133353","https://openalex.org/W2060046440","https://openalex.org/W2077705453","https://openalex.org/W2078246783","https://openalex.org/W2098849562","https://openalex.org/W2099684826","https://openalex.org/W2101754386","https://openalex.org/W2109700518","https://openalex.org/W2114712471","https://openalex.org/W2120575449","https://openalex.org/W2316950857","https://openalex.org/W2321052197","https://openalex.org/W2794257363","https://openalex.org/W2806263336","https://openalex.org/W2936498777","https://openalex.org/W2963939957","https://openalex.org/W3001805391","https://openalex.org/W3011121822","https://openalex.org/W3014213195","https://openalex.org/W3027906790","https://openalex.org/W3111076589","https://openalex.org/W3183856320","https://openalex.org/W3198332808","https://openalex.org/W6728865171"],"related_works":["https://openalex.org/W2921980845","https://openalex.org/W4289672320","https://openalex.org/W2081066029","https://openalex.org/W2060046440","https://openalex.org/W4214821834","https://openalex.org/W2165530525","https://openalex.org/W2123261982","https://openalex.org/W2187459711","https://openalex.org/W2997336620","https://openalex.org/W3014213195"],"abstract_inverted_index":{"Tensegrity":[0],"robots":[1,90],"are":[2,52],"composed":[3],"of":[4,46,88,94,104,117,138,168,191],"simple":[5],"members":[6],"(rigid":[7],"bodies":[8,75,93],"and":[9,12,18,27,125,165,173],"tensile":[10],"cables)":[11],"have":[13],"features":[14],"like":[15],"lightweight,":[16],"compliance,":[17],"robustness,":[19],"thus":[20],"representing":[21],"a":[22,82,111,135,139,169,174,184],"promising":[23],"alternative":[24],"to":[25,69,160],"soft":[26],"rigid":[28,74,92],"robots.":[29,48],"Forward":[30],"statics,":[31],"which":[32,142],"determines":[33],"the":[34,44,107,129,147,154,162,166,189,192],"robot":[35],"pose":[36],"in":[37],"static":[38,86,108],"equilibrium,":[39],"is":[40,143],"very":[41],"helpful":[42],"for":[43,59,85],"design":[45],"tensegrity":[47,65,89,171,176,185],"However,":[49],"existing":[50],"approaches":[51],"not":[53,56],"efficient":[54],"or":[55],"general":[57,83],"enough":[58],"Class-":[60],"<inline-formula":[61,70],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[62,71],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[63,72],"notation=\"LaTeX\">$k$</tex-math></inline-formula>":[64,73],"robots,":[66],"where":[67],"up":[68],"can":[76,157],"be":[77,158],"connected.":[78],"This":[79],"letter":[80],"proposes":[81],"approach":[84],"modeling":[87],"with":[91,114],"arbitrary":[95],"shapes,":[96],"using":[97],"natural":[98],"coordinates.":[99],"Introducing":[100],"an":[101],"additional":[102],"set":[103],"variables":[105],"transforms":[106],"equation":[109],"into":[110],"polynomial":[112],"system":[113],"four":[115],"kinds":[116],"parameters:":[118],"cable":[119],"rest":[120],"lengths,":[121],"deformations,":[122],"stiffness":[123],"coefficients,":[124],"external":[126],"forces.":[127],"Then,":[128],"forward":[130,155],"statics":[131,156],"problem":[132,137],"appears":[133],"as":[134],"path-following":[136],"parameter":[140],"homotopy,":[141],"efficiently":[144],"solved":[145],"by":[146],"homotopy":[148],"continuation":[149],"method.":[150],"Simulations":[151],"illustrate":[152],"how":[153],"used":[159],"evaluate":[161],"achievable":[163],"range":[164],"strength":[167],"2D":[170],"manipulator":[172,186],"3D":[175],"spine.":[177],"Finally,":[178],"we":[179],"conduct":[180],"hardware":[181],"experiments":[182],"on":[183],"prototype,":[187],"validating":[188],"accuracy":[190],"proposed":[193],"approach.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}