{"id":"https://openalex.org/W4408254172","doi":"https://doi.org/10.1109/lra.2025.3548398","title":"Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints","display_name":"Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints","publication_year":2025,"publication_date":"2025-03-05","ids":{"openalex":"https://openalex.org/W4408254172","doi":"https://doi.org/10.1109/lra.2025.3548398"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3548398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3548398","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/A5010341996","display_name":"Wenzhe Tong","orcid":"https://orcid.org/0009-0005-6605-5893"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhe Tong","raw_affiliation_strings":["Robotics Department, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0009-0005-6605-5893","affiliations":[{"raw_affiliation_string":"Robotics Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101958946","display_name":"Tzu-Yuan Lin","orcid":"https://orcid.org/0000-0002-3442-8801"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tzu-Yuan Lin","raw_affiliation_strings":["Robotics Department, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-3442-8801","affiliations":[{"raw_affiliation_string":"Robotics Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088677644","display_name":"Jonathan Mi","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Mi","raw_affiliation_strings":["Robotics Department, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0009-0006-1152-1508","affiliations":[{"raw_affiliation_string":"Robotics Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yicheng Jiang","orcid":"https://orcid.org/0009-0000-8232-0646"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yicheng Jiang","raw_affiliation_strings":["Robotics Department, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0009-0000-8232-0646","affiliations":[{"raw_affiliation_string":"Robotics Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["Robotics Department, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4734-4295","affiliations":[{"raw_affiliation_string":"Robotics Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000690549","display_name":"Xiaonan Huang","orcid":"https://orcid.org/0000-0002-2313-1551"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaonan Huang","raw_affiliation_strings":["Robotics Department, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-2313-1551","affiliations":[{"raw_affiliation_string":"Robotics Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5745,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.95648853,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"10","issue":"4","first_page":"4069","last_page":"4076"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9958000183105469,"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":0.9958000183105469,"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":0.9435999989509583,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9347000122070312,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.973289966583252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.538196861743927},{"id":"https://openalex.org/keywords/proprioception","display_name":"Proprioception","score":0.5217800736427307},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.469956636428833},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4480229616165161},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4163474440574646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3071897625923157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2759772837162018},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23382115364074707},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.16806244850158691},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11828985810279846},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08612528443336487}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.973289966583252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.538196861743927},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.5217800736427307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.469956636428833},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4480229616165161},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4163474440574646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3071897625923157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2759772837162018},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23382115364074707},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.16806244850158691},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11828985810279846},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08612528443336487},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3548398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3548398","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1590980019","https://openalex.org/W2056358962","https://openalex.org/W2069625930","https://openalex.org/W2078246783","https://openalex.org/W2126254787","https://openalex.org/W2139618112","https://openalex.org/W2165530525","https://openalex.org/W2198355680","https://openalex.org/W2267804923","https://openalex.org/W2594507603","https://openalex.org/W2745859992","https://openalex.org/W2788608293","https://openalex.org/W2909067076","https://openalex.org/W2941728977","https://openalex.org/W2943787883","https://openalex.org/W2962688712","https://openalex.org/W3000625188","https://openalex.org/W3033353027","https://openalex.org/W3043971245","https://openalex.org/W3089015621","https://openalex.org/W3129245057","https://openalex.org/W3131673036","https://openalex.org/W3179637311","https://openalex.org/W4211248062","https://openalex.org/W4241459016","https://openalex.org/W4251914763","https://openalex.org/W4311215077","https://openalex.org/W4311412827","https://openalex.org/W4323527686","https://openalex.org/W4383108438","https://openalex.org/W4389665583","https://openalex.org/W6600613274","https://openalex.org/W6688465322","https://openalex.org/W6695250641","https://openalex.org/W6785952877","https://openalex.org/W6857868293","https://openalex.org/W6873226618","https://openalex.org/W6873389983","https://openalex.org/W6873396796","https://openalex.org/W6876826259"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2040728928","https://openalex.org/W1974778898","https://openalex.org/W3015911334","https://openalex.org/W4285324348"],"abstract_inverted_index":{"Tensegrity":[0],"robots,characterized":[1],"by":[2],"a":[3,37,74],"synergistic":[4],"assembly":[5],"of":[6,52,90,119,127,159],"rigid":[7,129],"rods":[8],"and":[9,27,31,60,69,88,108,142],"elastic":[10],"cables,":[11],"form":[12],"robust":[13],"structures":[14],"that":[15],"are":[16],"resistant":[17],"to":[18,64,83,122,146],"impacts.":[19],"However,":[20],"this":[21],"design":[22],"introduces":[23],"complexities":[24],"in":[25,104,137,148,162],"kinematics":[26,82],"dynamics,":[28],"complicating":[29],"control":[30],"state":[32,40,95,124,132,140],"estimation.":[33],"This":[34,131],"work":[35],"presents":[36],"novel":[38],"proprioceptive":[39],"estimator":[41,46,133],"for":[42,156],"tensegrity":[43,55,92,110,138,160],"robots.":[44,130],"The":[45,94],"initially":[47],"uses":[48],"the":[49,66,85,91,123,135,144,154],"geometric":[50],"constraints":[51],"3-bar":[53],"prism":[54],"structures,":[56],"combined":[57],"with":[58,80],"IMU":[59],"motor":[61],"encoder":[62],"measurements,":[63],"reconstruct":[65],"robot's":[67],"shape":[68],"orientation.":[70],"It":[71,113],"then":[72],"employs":[73],"contact-aided":[75],"invariant":[76],"extended":[77],"Kalman":[78],"filter":[79],"forward":[81],"estimate":[84],"global":[86],"position":[87],"orientation":[89],"robot.":[93],"estimator's":[96],"accuracy":[97],"is":[98],"assessed":[99],"against":[100],"ground":[101],"truth":[102],"data":[103],"both":[105],"simulated":[106],"environments":[107],"real-world":[109],"robot":[111,139],"applications.":[112],"achieves":[114],"an":[115],"average":[116],"drift":[117],"percentage":[118],"4.2%,":[120],"comparable":[121],"estimation":[125,141],"performance":[126],"traditional":[128],"advances":[134],"state-of-the-art":[136],"has":[143],"potential":[145],"run":[147],"real-time":[149],"using":[150],"onboard":[151],"sensors,":[152],"paving":[153],"way":[155],"full":[157],"autonomy":[158],"robots":[161],"unstructured":[163],"environments.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}