{"id":"https://openalex.org/W2127963617","doi":"https://doi.org/10.1109/acc.2005.1470036","title":"Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators","display_name":"Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators","publication_year":2005,"publication_date":"2005-08-10","ids":{"openalex":"https://openalex.org/W2127963617","doi":"https://doi.org/10.1109/acc.2005.1470036","mag":"2127963617"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2005.1470036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2005.1470036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005, American Control Conference, 2005.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090680559","display_name":"Alexander Hildebrandt","orcid":"https://orcid.org/0000-0003-3560-1642"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Hildebrandt","raw_affiliation_strings":["Institute of Automation and Systems Engineering, Technische Universit\u00e4t Illmenau, Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation and Systems Engineering, Technische Universit\u00e4t Illmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103049218","display_name":"Oliver Sawodny","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"O. Sawodny","raw_affiliation_strings":["Institute of Automation and Systems Engineering, Technische Universit\u00e4t Illmenau, Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation and Systems Engineering, Technische Universit\u00e4t Illmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111716669","display_name":"R. Neumann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Neumann","raw_affiliation_strings":["Research Mechatronics, Festo AG and Company, Esslingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Mechatronics, Festo AG and Company, Esslingen, Germany","institution_ids":["https://openalex.org/I4210158977"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054394172","display_name":"Andreas Hartmann","orcid":"https://orcid.org/0000-0003-0407-742X"},"institutions":[{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Hartmann","raw_affiliation_strings":["Research Mechatronics, Festo AG and Company, Esslingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Mechatronics, Festo AG and Company, Esslingen, Germany","institution_ids":["https://openalex.org/I4210158977"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3933,"has_fulltext":false,"cited_by_count":89,"citation_normalized_percentile":{"value":0.88082544,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"680","last_page":"685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9940999746322632,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7801982164382935},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6793440580368042},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6599361300468445},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6118506789207458},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5747416019439697},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.5414351224899292},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.532574474811554},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5276393294334412},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.5259785056114197},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5024809837341309},{"id":"https://openalex.org/keywords/electrohydraulic-servo-valve","display_name":"Electrohydraulic servo valve","score":0.47669336199760437},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4584304094314575},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4396352767944336},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.42324337363243103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41937345266342163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20573341846466064},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.181333988904953},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1557375192642212},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07646963000297546}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7801982164382935},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6793440580368042},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6599361300468445},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6118506789207458},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5747416019439697},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.5414351224899292},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.532574474811554},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5276393294334412},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.5259785056114197},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5024809837341309},{"id":"https://openalex.org/C139993351","wikidata":"https://www.wikidata.org/wiki/Q5358040","display_name":"Electrohydraulic servo valve","level":2,"score":0.47669336199760437},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4584304094314575},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4396352767944336},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.42324337363243103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41937345266342163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20573341846466064},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.181333988904953},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1557375192642212},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07646963000297546},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/acc.2005.1470036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2005.1470036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005, American Control Conference, 2005.","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-38702","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-38702.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IITB","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/348511","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/348511","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1550732586","https://openalex.org/W1551596967","https://openalex.org/W1567946629","https://openalex.org/W1887006513","https://openalex.org/W2012893539","https://openalex.org/W2043856721","https://openalex.org/W2101440946","https://openalex.org/W2131148594","https://openalex.org/W2146169138","https://openalex.org/W2156378823","https://openalex.org/W2184893501","https://openalex.org/W2465200406","https://openalex.org/W3127974756","https://openalex.org/W3160954918","https://openalex.org/W4292872153","https://openalex.org/W6633105962","https://openalex.org/W6661419039","https://openalex.org/W6686451730","https://openalex.org/W6719498620"],"related_works":["https://openalex.org/W2742397931","https://openalex.org/W2012595107","https://openalex.org/W4253527034","https://openalex.org/W211888945","https://openalex.org/W2384571910","https://openalex.org/W4386272349","https://openalex.org/W2120869143","https://openalex.org/W2313071244","https://openalex.org/W2711900214","https://openalex.org/W1978304568"],"abstract_inverted_index":{"Pneumatic":[0],"muscles":[1],"are":[2],"interesting":[3],"in":[4,9,49],"their":[5],"use":[6],"as":[7],"actuators":[8],"robotics,":[10],"since":[11],"they":[12],"have":[13],"a":[14,18,22,28,65,84,109,126,129,164,169],"high":[15,66],"power/weight":[16],"ratio,":[17],"high-tension":[19],"force":[20],"and":[21,83],"long":[23],"durability.":[24],"This":[25],"paper":[26],"presents":[27],"two-axis":[29],"planar":[30],"articulated":[31],"robot,":[32],"which":[33,63,105,135,174],"is":[34,42,56,75,94,133,147,172],"driven":[35],"by":[36,44],"four":[37],"pneumatic":[38,81],"muscles.":[39],"Every":[40],"actuator":[41],"supplied":[43],"one":[45],"electronic":[46],"servo":[47,90],"valve":[48],"3/3-way":[50],"function.":[51],"Part":[52],"of":[53,59,70,102,114,142,154,191],"this":[54],"work":[55],"the":[57,60,71,76,80,89,97,103,115,119,123,139,151,155,160,178,184,189,192],"derivation":[58],"model":[61,78,86],"description,":[62],"describes":[64],"nonlinear":[67,120],"dynamic":[68],"behavior":[69],"robot.":[72],"Main":[73],"focus":[74],"physical":[77],"for":[79,88],"muscle":[82],"detailed":[85],"description":[87],"valves.":[91],"The":[92],"aim":[93],"to":[95,138,149,182],"control":[96,131,195],"tool":[98],"center":[99],"point":[100],"(TCP)":[101],"manipulator,":[104],"bases":[106,175],"here":[107,137,176],"on":[108,177],"fast":[110,165],"subsidiary":[111],"torque":[112,161],"regulator":[113],"drive":[116,157],"system":[117],"compensating":[118],"effects.":[121],"As":[122,159],"robot":[124],"represents":[125],"MIMO":[127],"system,":[128],"second":[130],"objective":[132],"defined,":[134],"corresponds":[136],"average":[140],"pressure":[141],"each":[143],"muscle-pair.":[144],"An":[145],"optimisation-strategy":[146],"presented":[148,193],"meet":[150],"maximum":[152],"stiffness":[153],"controlled":[156],"system.":[158],"controller":[162,171],"assures":[163],"linear":[166],"input/output":[167],"behavior,":[168],"standardized":[170],"implemented":[173],"Computed":[179],"Torque":[180],"Method":[181],"track":[183],"TCP.":[185],"Measurement":[186],"results":[187],"show":[188],"efficiency":[190],"cascaded":[194],"concept.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
