Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise

Vinh L. Nguyen; Ryan J. Caverly

doi:10.1109/icra55743.2025.11128427

Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise

Vinh L. Nguyen
, Ryan J. Caverly

Aerospace Engineering and Mechanics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper introduces a cable-length-based extended Kalman filter (L-EKF) framework to estimate the end-effector pose of a cable-driven parallel robot (CDPR). The L-EKF fuses end-effector accelerometer and rate gyroscope measurements with cable-length measurements. The main contribution compared to prior CDPR pose estimation EKF methods is that the L-EKF framework does not require an iterative forward kinematics algorithm to be solved each time step, reducing the computation time of the EKF. Moreover, the L-EKF is amenable to the inclusion of colored measurement noise, which provides a more realistic quantification of the kinematic uncertainty present in the cable-length measurements. Experimental results demonstrate that the L-EKF is computationally more efficient than previous forward-kinematics-based EKF methods, as well as the moderate improvement in pose estimation provided by the colored noise model.

Original language	English (US)
Title of host publication	2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Editors	Christian Ott, Henny Admoni, Sven Behnke, Stjepan Bogdan, Aude Bolopion, Youngjin Choi, Fanny Ficuciello, Nicholas Gans, Clement Gosselin, Kensuke Harada, Erdal Kayacan, H. Jin Kim, Stefan Leutenegger, Zhe Liu, Perla Maiolino, Lino Marques, Takamitsu Matsubara, Anastasia Mavromatti, Mark Minor, Jason O'Kane, Hae Won Park, Hae-Won Park, Ioannis Rekleitis, Federico Renda, Elisa Ricci, Laurel D. Riek, Lorenzo Sabattini, Shaojie Shen, Yu Sun, Pierre-Brice Wieber, Katsu Yamane, Jingjin Yu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	12237-12243
Number of pages	7
ISBN (Electronic)	9798331541392
DOIs	https://doi.org/10.1109/icra55743.2025.11128427
State	Published - 2025
Event	2025 IEEE International Conference on Robotics and Automation, ICRA 2025 - Atlanta, United States Duration: May 19 2025 → May 23 2025

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Country/Territory	United States
City	Atlanta
Period	5/19/25 → 5/23/25

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

Publisher link

10.1109/icra55743.2025.11128427

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Nguyen, V. L., & Caverly, R. J. (2025). Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise. In C. Ott, H. Admoni, S. Behnke, S. Bogdan, A. Bolopion, Y. Choi, F. Ficuciello, N. Gans, C. Gosselin, K. Harada, E. Kayacan, H. J. Kim, S. Leutenegger, Z. Liu, P. Maiolino, L. Marques, T. Matsubara, A. Mavromatti, M. Minor, J. O'Kane, H. W. Park, H.-W. Park, I. Rekleitis, F. Renda, E. Ricci, L. D. Riek, L. Sabattini, S. Shen, Y. Sun, P.-B. Wieber, K. Yamane, ... J. Yu (Eds.), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025 (pp. 12237-12243). (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/icra55743.2025.11128427

Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise. / Nguyen, Vinh L.; Caverly, Ryan J.
2025 IEEE International Conference on Robotics and Automation, ICRA 2025. ed. / Christian Ott; Henny Admoni; Sven Behnke; Stjepan Bogdan; Aude Bolopion; Youngjin Choi; Fanny Ficuciello; Nicholas Gans; Clement Gosselin; Kensuke Harada; Erdal Kayacan; H. Jin Kim; Stefan Leutenegger; Zhe Liu; Perla Maiolino; Lino Marques; Takamitsu Matsubara; Anastasia Mavromatti; Mark Minor; Jason O'Kane; Hae Won Park; Hae-Won Park; Ioannis Rekleitis; Federico Renda; Elisa Ricci; Laurel D. Riek; Lorenzo Sabattini; Shaojie Shen; Yu Sun; Pierre-Brice Wieber; Katsu Yamane; Jingjin Yu. Institute of Electrical and Electronics Engineers Inc., 2025. p. 12237-12243 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nguyen, VL & Caverly, RJ 2025, Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, HJ Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, HW Park, H-W Park, I Rekleitis, F Renda, E Ricci, LD Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 12237-12243, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, United States, 5/19/25. https://doi.org/10.1109/icra55743.2025.11128427

Nguyen VL, Caverly RJ. Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise. In Ott C, Admoni H, Behnke S, Bogdan S, Bolopion A, Choi Y, Ficuciello F, Gans N, Gosselin C, Harada K, Kayacan E, Kim HJ, Leutenegger S, Liu Z, Maiolino P, Marques L, Matsubara T, Mavromatti A, Minor M, O'Kane J, Park HW, Park HW, Rekleitis I, Renda F, Ricci E, Riek LD, Sabattini L, Shen S, Sun Y, Wieber PB, Yamane K, Yu J, editors, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 12237-12243. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/icra55743.2025.11128427

Nguyen, Vinh L. ; Caverly, Ryan J. / Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise. 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. editor / Christian Ott ; Henny Admoni ; Sven Behnke ; Stjepan Bogdan ; Aude Bolopion ; Youngjin Choi ; Fanny Ficuciello ; Nicholas Gans ; Clement Gosselin ; Kensuke Harada ; Erdal Kayacan ; H. Jin Kim ; Stefan Leutenegger ; Zhe Liu ; Perla Maiolino ; Lino Marques ; Takamitsu Matsubara ; Anastasia Mavromatti ; Mark Minor ; Jason O'Kane ; Hae Won Park ; Hae-Won Park ; Ioannis Rekleitis ; Federico Renda ; Elisa Ricci ; Laurel D. Riek ; Lorenzo Sabattini ; Shaojie Shen ; Yu Sun ; Pierre-Brice Wieber ; Katsu Yamane ; Jingjin Yu. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 12237-12243 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise",

abstract = "This paper introduces a cable-length-based extended Kalman filter (L-EKF) framework to estimate the end-effector pose of a cable-driven parallel robot (CDPR). The L-EKF fuses end-effector accelerometer and rate gyroscope measurements with cable-length measurements. The main contribution compared to prior CDPR pose estimation EKF methods is that the L-EKF framework does not require an iterative forward kinematics algorithm to be solved each time step, reducing the computation time of the EKF. Moreover, the L-EKF is amenable to the inclusion of colored measurement noise, which provides a more realistic quantification of the kinematic uncertainty present in the cable-length measurements. Experimental results demonstrate that the L-EKF is computationally more efficient than previous forward-kinematics-based EKF methods, as well as the moderate improvement in pose estimation provided by the colored noise model.",

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note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 IEEE International Conference on Robotics and Automation, ICRA 2025 ; Conference date: 19-05-2025 Through 23-05-2025",

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AU - Caverly, Ryan J.

PY - 2025

Y1 - 2025

N2 - This paper introduces a cable-length-based extended Kalman filter (L-EKF) framework to estimate the end-effector pose of a cable-driven parallel robot (CDPR). The L-EKF fuses end-effector accelerometer and rate gyroscope measurements with cable-length measurements. The main contribution compared to prior CDPR pose estimation EKF methods is that the L-EKF framework does not require an iterative forward kinematics algorithm to be solved each time step, reducing the computation time of the EKF. Moreover, the L-EKF is amenable to the inclusion of colored measurement noise, which provides a more realistic quantification of the kinematic uncertainty present in the cable-length measurements. Experimental results demonstrate that the L-EKF is computationally more efficient than previous forward-kinematics-based EKF methods, as well as the moderate improvement in pose estimation provided by the colored noise model.

AB - This paper introduces a cable-length-based extended Kalman filter (L-EKF) framework to estimate the end-effector pose of a cable-driven parallel robot (CDPR). The L-EKF fuses end-effector accelerometer and rate gyroscope measurements with cable-length measurements. The main contribution compared to prior CDPR pose estimation EKF methods is that the L-EKF framework does not require an iterative forward kinematics algorithm to be solved each time step, reducing the computation time of the EKF. Moreover, the L-EKF is amenable to the inclusion of colored measurement noise, which provides a more realistic quantification of the kinematic uncertainty present in the cable-length measurements. Experimental results demonstrate that the L-EKF is computationally more efficient than previous forward-kinematics-based EKF methods, as well as the moderate improvement in pose estimation provided by the colored noise model.

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A2 - Ott, Christian

A2 - Admoni, Henny

A2 - Behnke, Sven

A2 - Bogdan, Stjepan

A2 - Bolopion, Aude

A2 - Choi, Youngjin

A2 - Ficuciello, Fanny

A2 - Gans, Nicholas

A2 - Gosselin, Clement

A2 - Harada, Kensuke

A2 - Kayacan, Erdal

A2 - Kim, H. Jin

A2 - Leutenegger, Stefan

A2 - Liu, Zhe

A2 - Maiolino, Perla

A2 - Marques, Lino

A2 - Matsubara, Takamitsu

A2 - Mavromatti, Anastasia

A2 - Minor, Mark

A2 - O'Kane, Jason

A2 - Park, Hae Won

A2 - Park, Hae-Won

A2 - Rekleitis, Ioannis

A2 - Renda, Federico

A2 - Ricci, Elisa

A2 - Riek, Laurel D.

A2 - Sabattini, Lorenzo

A2 - Shen, Shaojie

A2 - Sun, Yu

A2 - Wieber, Pierre-Brice

A2 - Yamane, Katsu

A2 - Yu, Jingjin

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025

Y2 - 19 May 2025 through 23 May 2025

ER -

Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise

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