Tufail Ahmad Bhat

2 accepted papers

2026

Proprioceptive Shape Estimation of Tensegrity Manipulators Using Energy Minimisation

ICRA 2026poster

Shape estimation is fundamental for controlling continuously bending tensegrity manipulators, yet achieving it remains a challenge. Although using exteroceptive sensors makes the implementation straightforward, it is costly and limited to specific environments. Proprioceptive approaches, by contrast…

Cited by 0 Source ↗PDF ↗Scholar ↗

2025

Real-Time Shape Estimation of Tensegrity Structures Using Strut Inclination Angles

Tufail Ahmad Bhat, Yuhei Yoshimitsu, Kazuki Wada, Shuhei Ikemoto

RA-L 2025

Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their state, is essential for establishing control. However, on-boar

Cited by 1 Source ↗Scholar ↗