End-effector Pose Extrapolation using Wireless Channel State Information

NIST Publications

Published April 21st, 2026

Detected February 27th, 2026

Summary

NIST has published a paper detailing a method for end-effector pose extrapolation using wireless channel state information. The research demonstrates improvements in physical robot performance by adapting to real-time radio frequency channel conditions, potentially leading to wider adoption of wireless technology in industrial settings.

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What changed

This document is a publication from NIST detailing research on extrapolating end-effector poses in robots using wireless channel state information (CSI). The paper, published on April 21, 2026, presents a use case involving two industrial robotic arms coordinating to lift a metrology bar, where the 'Follower' robot extrapolates its next target pose based on received signal strength indicator (RSSI) falling below a set threshold. Experiments were conducted in a challenging RF environment to emulate industrial conditions, highlighting the benefits of wireless co-design for improved operational performance and potentially alleviating strict communication reliability requirements.

This publication is primarily for researchers and developers in the fields of robotics, industrial automation, and wireless communications. It serves as an informational notice about advancements in adapting robotic systems to dynamic wireless environments. There are no immediate compliance requirements or deadlines for regulated entities. The document provides a downloadable paper and citation details for further reference.

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PUBLICATIONS

End-effector Pose Extrapolation using Wireless Channel State Information

Published

April 21, 2026

Author(s)

Karl Montgomery, Nathan Wei, Jing Geng, Mohamed Hany, Richard Candell

Abstract

Wireless communications for real-time control is an emerging field. There are many advantages gained by replacing a wired link with wireless; however, wireless brings unique challenges. Applications may need to be designed with wireless communications in mind, so they adapt in real-time to the state of the radio frequency (RF) channel. We present a real-time robotic use case that extrapolates end-effector poses by using wireless network quality indicators. We acquired the wireless channel state information (CSI) by polling the Received Signal Strength Indicator (RSSI) at a rate of 250 Hz. We demonstrate improvements to physical robot performance from the unique advantage of implementing a wireless co-design use case. The use case consists of two industrial robotic arms, the Leader and Follower robots, which coordinate to lift a metrology bar. The Follower senses when RSSI falls below a set threshold and extrapolates the next target pose. We conducted experiments with a dynamic, non-line-of-sight, multipath wireless channel by placing the station antennas and the access point inside a shielded and highly RF reflective reverberation chamber to emulate an industrial environment. We highlight the need for wireless control co-design to improve operational performance when presented with a challenging RF channel. Adopting wireless co-design may alleviate the strict communications reliability requirements often cited for industrial wireless networks and lead to greater adoption of the technology. Conference Dates April 21-24, 2026 Conference Location Offenburg, DE Conference Title 22nd International IEEE Conference on Factory Communication Systems (WFCS 2026) Pub Type Conferences

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Keywords

industrial Wireless, factory communications, wireless co-design, adaptive control, WLAN Wireless (RF), Robotics, Factory communications and Advanced communications

Citation

Montgomery, K.
, Wei, N.
, Geng, J.
, Hany, M.
and Candell, R.

(2026),
End-effector Pose Extrapolation using Wireless Channel State Information, 22nd International IEEE Conference on Factory Communication Systems (WFCS 2026), Offenburg, DE, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=960590       
  (Accessed February 27, 2026)