{"id":"https://openalex.org/W4396875104","doi":"https://doi.org/10.1109/robosoft60065.2024.10521967","title":"Estimating Infinite-Dimensional Continuum Robot States From the Tip","display_name":"Estimating Infinite-Dimensional Continuum Robot States From the Tip","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396875104","doi":"https://doi.org/10.1109/robosoft60065.2024.10521967"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-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/A5056147954","display_name":"Tongjia Zheng","orcid":"https://orcid.org/0000-0001-9392-6088"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tongjia Zheng","raw_affiliation_strings":["University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085630453","display_name":"Ciera McFarland","orcid":null},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ciera McFarland","raw_affiliation_strings":["University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062756806","display_name":"Margaret M. Coad","orcid":"https://orcid.org/0000-0002-2272-6086"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margaret Coad","raw_affiliation_strings":["University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045445273","display_name":"Hai Lin","orcid":"https://orcid.org/0000-0002-5242-2366"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hai Lin","raw_affiliation_strings":["University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Department of Electrical Engineering,Notre Dame IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4884,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58690055,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"572","last_page":"578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9764000177383423,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9718000292778015,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/robot","display_name":"Robot","score":0.7109541296958923},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6088055372238159},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5750336647033691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4546225368976593},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.4417555630207062},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41239842772483826},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4035834074020386},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.36820292472839355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33972346782684326},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3240628242492676},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2858564853668213},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27031877636909485}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7109541296958923},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6088055372238159},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5750336647033691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4546225368976593},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.4417555630207062},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41239842772483826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4035834074020386},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.36820292472839355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33972346782684326},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3240628242492676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2858564853668213},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27031877636909485},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10521967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1358878170","display_name":null,"funder_award_id":"CNS-1830335,IIS-2007949","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W2053614949","https://openalex.org/W2073677587","https://openalex.org/W2095462685","https://openalex.org/W2101667962","https://openalex.org/W2184993170","https://openalex.org/W2329035258","https://openalex.org/W2594490506","https://openalex.org/W2942096073","https://openalex.org/W2973056265","https://openalex.org/W2993799976","https://openalex.org/W3015303069","https://openalex.org/W4292402580","https://openalex.org/W4294690599","https://openalex.org/W4296781173","https://openalex.org/W4306986146","https://openalex.org/W4312565291","https://openalex.org/W4313179296"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W1671433536"],"abstract_inverted_index":{"Knowing":[0],"the":[1,25,48,94,101,105,112,140,152,169,178,186],"state":[2,18,81,170],"of":[3,27,104,151],"a":[4,28,71,78,85,134,148],"robot":[5,30,96],"is":[6,20,161],"critical":[7],"for":[8,119],"many":[9,32],"problems,":[10],"such":[11],"as":[12],"feedback":[13],"control.":[14],"For":[15],"continuum":[16,29,136],"robots,":[17],"estimation":[19,82],"an":[21],"incredible":[22],"challenge.":[23,75],"First,":[24],"motion":[26],"involves":[31],"kinematic":[33],"states,":[34],"including":[35],"poses,":[36],"strains,":[37],"and":[38,144,183],"velocities.":[39],"Second,":[40],"all":[41,63,93],"these":[42,57],"states":[43,59,97,182],"are":[44,60],"infinite-dimensional":[45,58,95],"due":[46],"to":[47,73,114,177],"robot's":[49,187],"flexible":[50],"property.":[51],"It":[52,76,160],"has":[53],"remained":[54],"unclear":[55],"whether":[56],"observable":[61],"at":[62],"using":[64,129],"existing":[65],"sensing":[66],"techniques.":[67],"Recently,":[68],"we":[69,110],"presented":[70],"solution":[72],"this":[74,108,126],"was":[77],"mechanics-based":[79],"dynamic":[80],"algorithm,":[83],"called":[84],"Cosserat":[86,153],"theoretic":[87],"boundary":[88],"observer,":[89],"which":[90],"could":[91],"recover":[92],"by":[98,172],"only":[99],"measuring":[100],"velocity":[102],"twist":[103],"tip.":[106],"In":[107],"work,":[109],"generalize":[111],"algorithm":[113,127,174],"incorporate":[115],"tip":[116,145],"pose":[117],"measurements":[118,146],"more":[120],"tuning":[121],"freedom.":[122],"We":[123,138],"also":[124],"validate":[125],"offline":[128],"experimental":[130],"data":[131],"recorded":[132,141,179],"from":[133],"tendon-driven":[135],"robot.":[137,159],"feed":[139],"tendon":[142],"force":[143],"into":[147],"numerical":[149],"solver":[150],"rod":[154],"model":[155],"based":[156],"on":[157],"our":[158,173],"observed":[162],"that,":[163],"even":[164],"with":[165],"purposely":[166],"deviated":[167],"initialization,":[168],"estimates":[171],"quickly":[175],"converge":[176],"ground":[180],"truth":[181],"closely":[184],"follow":[185],"actual":[188],"motion.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
