{"id":"https://openalex.org/W4398770311","doi":"https://doi.org/10.1007/s10846-024-02113-3","title":"Online Bilateral Predictive Control for Time-Delayed Teleoperation of Snake-like Robots","display_name":"Online Bilateral Predictive Control for Time-Delayed Teleoperation of Snake-like Robots","publication_year":2024,"publication_date":"2024-05-24","ids":{"openalex":"https://openalex.org/W4398770311","doi":"https://doi.org/10.1007/s10846-024-02113-3"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02113-3","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-024-02113-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"http://dx.doi.org/10.1007/s10846-024-02113-3","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045700351","display_name":"Mahdi Ebrahimian","orcid":"https://orcid.org/0000-0002-8368-6989"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mahdi Ebrahimian","raw_affiliation_strings":["Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093254567","display_name":"Mina Pourmokhtari","orcid":"https://orcid.org/0009-0000-1900-9636"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mina Pourmokhtari","raw_affiliation_strings":["Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran"],"raw_orcid":"https://orcid.org/0009-0000-1900-9636","affiliations":[{"raw_affiliation_string":"Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098811260","display_name":"Morteza Ghiyasi","orcid":null},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Morteza Ghiyasi","raw_affiliation_strings":["Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051055621","display_name":"Behnam Yazdankhoo","orcid":"https://orcid.org/0000-0001-8506-9768"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Behnam Yazdankhoo","raw_affiliation_strings":["Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-8506-9768","affiliations":[{"raw_affiliation_string":"Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091626338","display_name":"Borhan Beigzadeh","orcid":"https://orcid.org/0000-0001-8408-5096"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Borhan Beigzadeh","raw_affiliation_strings":["Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-8408-5096","affiliations":[{"raw_affiliation_string":"Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, P.O. Box 16844, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5091626338"],"corresponding_institution_ids":["https://openalex.org/I67009956"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":0.3617,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.48312955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"110","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9263089895248413},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7068920135498047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5063992738723755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4663875102996826},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4503744840621948},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4151366353034973},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23179197311401367}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9263089895248413},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7068920135498047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5063992738723755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4663875102996826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4503744840621948},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4151366353034973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23179197311401367}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-024-02113-3","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-024-02113-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-024-02113-3","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-024-02113-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1551915501","https://openalex.org/W1936407254","https://openalex.org/W1938785289","https://openalex.org/W2009046103","https://openalex.org/W2087104703","https://openalex.org/W2112570665","https://openalex.org/W2123297103","https://openalex.org/W2129324515","https://openalex.org/W2342901333","https://openalex.org/W2519313455","https://openalex.org/W2750248357","https://openalex.org/W2883674766","https://openalex.org/W2887352893","https://openalex.org/W2911457647","https://openalex.org/W3000160985","https://openalex.org/W3006441626","https://openalex.org/W3097603421","https://openalex.org/W3108611495","https://openalex.org/W4205624346","https://openalex.org/W4293079275","https://openalex.org/W4321360091","https://openalex.org/W4377139730","https://openalex.org/W4385587844","https://openalex.org/W4390975137","https://openalex.org/W4391341485","https://openalex.org/W6603953106"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2556120871"],"abstract_inverted_index":{"Abstract":[0],"Controlling":[1],"the":[2,40,56,60,91,101,105,115,118,132],"teleoperation":[3,137],"of":[4,98,104],"snake-like":[5],"robots":[6],"is":[7,33,109],"challenging":[8],"due":[9],"to":[10,26,81],"complex":[11],"nonlinear":[12],"dynamics":[13],"and":[14,39,59,95,121,144],"communication":[15,150],"delays.":[16,151],"This":[17,30],"research":[18],"proposes":[19],"an":[20,63],"online":[21,69,134],"bilateral":[22,135],"predictive":[23,136],"control":[24,31],"architecture":[25],"address":[27],"these":[28],"issues.":[29],"structure":[32,138],"established":[34],"by":[35,50,147],"predicting":[36],"environment":[37,54],"force":[38,145],"user\u2019s":[41],"future":[42],"motion.":[43,127],"The":[44,73],"former":[45],"uses":[46],"a":[47,52,125],"model-mediated":[48],"approach":[49],"creating":[51],"virtual":[53],"on":[55],"master":[57],"side":[58],"latter":[61],"adopts":[62],"artificial":[64],"neural":[65],"network":[66],"(ANN)":[67],"for":[68],"operator\u2019s":[70],"motion":[71],"prediction.":[72],"slave":[74],"controller":[75],"utilizes":[76],"transmitted":[77],"data":[78],"from":[79],"ANN":[80,116],"generate":[82],"required":[83],"backbone":[84],"lengths,":[85],"which":[86],"are":[87],"then":[88],"transformed":[89],"into":[90],"slave's":[92],"local":[93],"bending":[94],"torsional":[96],"degrees":[97],"freedom":[99],"through":[100],"inverse":[102],"kinematics":[103],"robot.":[106],"Motion":[107],"prediction":[108],"examined":[110],"in":[111],"two":[112],"scenarios:":[113],"when":[114,122],"predicts":[117,124],"trained":[119],"motions,":[120],"it":[123],"different":[126],"Simulation":[128],"studies":[129],"demonstrate":[130],"that":[131],"proposed":[133],"successfully":[139],"achieves":[140],"real-time":[141],"position":[142],"synchronization":[143],"feedback,":[146],"effectively":[148],"bypassing":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}
