Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles

arXiv:2609.24535 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Closed-Loop Control — 4× in this paper · explained in 3 episodes
• Objective Function — 3× in this paper · explained in 2 episodes
• Proportional Integral — 3× in this paper
• Core — 2× in this paper · explained in 2 episodes
• Inertial Measurement Unit — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Chebyshev Polynomials — 1× in this paper · explained in 2 episodes
• Japan Society for the Promotion of Science — 1× in this paper
• Loss Function — 1× in this paper · explained in 2 episodes

Sources

• Adaptive Stiffness: A Biomimetic Robotic System with Tensegrity-Based Compliant Mechanism
• Proprioceptive Shape Estimation of Tensegrity Manipulators Using Energy Minimisation

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