{"id":"https://openalex.org/W4402437057","doi":"https://doi.org/10.1109/ccta60707.2024.10666573","title":"Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints","display_name":"Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints","publication_year":2024,"publication_date":"2024-08-21","ids":{"openalex":"https://openalex.org/W4402437057","doi":"https://doi.org/10.1109/ccta60707.2024.10666573"},"language":"en","primary_location":{"id":"doi:10.1109/ccta60707.2024.10666573","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccta60707.2024.10666573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Conference on Control Technology and Applications (CCTA)","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/A5111078732","display_name":"G D'Antuono","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Gianluca D\u2019Antuono","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055872448","display_name":"Kristin Y. Pettersen","orcid":"https://orcid.org/0000-0002-3897-0315"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kristin Y. Pettersen","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086317389","display_name":"Luca Rosario Buonocore","orcid":"https://orcid.org/0000-0001-5396-2519"},"institutions":[{"id":"https://openalex.org/I67311998","display_name":"European Organization for Nuclear Research","ror":"https://ror.org/01ggx4157","country_code":"CH","type":"facility","lineage":["https://openalex.org/I67311998"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Luca R. Buonocore","raw_affiliation_strings":["European Organization for Nuclear Research (CERN),Mechatronics, Robotics and Operation Section,Switzerland"],"affiliations":[{"raw_affiliation_string":"European Organization for Nuclear Research (CERN),Mechatronics, Robotics and Operation Section,Switzerland","institution_ids":["https://openalex.org/I67311998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034485872","display_name":"Jan Tommy Gravdahl","orcid":"https://orcid.org/0000-0002-5663-0795"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Jan Tommy Gravdahl","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063186323","display_name":"Mario Di Castro","orcid":"https://orcid.org/0000-0002-2513-967X"},"institutions":[{"id":"https://openalex.org/I67311998","display_name":"European Organization for Nuclear Research","ror":"https://ror.org/01ggx4157","country_code":"CH","type":"facility","lineage":["https://openalex.org/I67311998"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mario Di Castro","raw_affiliation_strings":["European Organization for Nuclear Research (CERN),Mechatronics, Robotics and Operation Section,Switzerland"],"affiliations":[{"raw_affiliation_string":"European Organization for Nuclear Research (CERN),Mechatronics, Robotics and Operation Section,Switzerland","institution_ids":["https://openalex.org/I67311998"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111078732"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13749781,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"817","last_page":"823"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9965999722480774,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9948999881744385,"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/robot","display_name":"Robot","score":0.6091870665550232},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.584450900554657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5066583752632141},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5011539459228516},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4452268183231354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.354461669921875},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33201634883880615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17108213901519775},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15930625796318054},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1415829360485077}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6091870665550232},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.584450900554657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5066583752632141},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5011539459228516},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4452268183231354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.354461669921875},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33201634883880615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17108213901519775},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15930625796318054},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1415829360485077},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta60707.2024.10666573","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccta60707.2024.10666573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:cds.cern.ch:2924187","is_oa":false,"landing_page_url":"http://cds.cern.ch/record/2924187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1548192298","https://openalex.org/W1771182989","https://openalex.org/W1982582014","https://openalex.org/W1999648900","https://openalex.org/W2021721710","https://openalex.org/W2113265921","https://openalex.org/W2115955659","https://openalex.org/W2129870396","https://openalex.org/W2146031911","https://openalex.org/W2156022850","https://openalex.org/W2172117433","https://openalex.org/W2184993170","https://openalex.org/W2806185962","https://openalex.org/W2901679846","https://openalex.org/W3095121836","https://openalex.org/W3100966471","https://openalex.org/W3154322871","https://openalex.org/W4388917859"],"related_works":["https://openalex.org/W2045352797","https://openalex.org/W2280685604","https://openalex.org/W2106268159","https://openalex.org/W2036845782","https://openalex.org/W4200326729","https://openalex.org/W2770783682","https://openalex.org/W202540107","https://openalex.org/W4200089920","https://openalex.org/W2146614915","https://openalex.org/W2387124810"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2,70],"a":[3,16],"novel":[4],"application":[5],"of":[6,28,66,95,113],"Path":[7],"Following":[8],"and":[9,48,85,106],"Nonlinear":[10],"Model":[11],"Predictive":[12],"Control":[13],"techniques":[14],"to":[15,102],"tendon-actuated":[17],"snake":[18,68],"robot":[19,40,69],"with":[20],"rolling":[21],"joints.":[22],"The":[23,62,88],"study":[24],"investigates":[25],"the":[26,32,39,67,93,103],"efficacy":[27],"NMPC":[29,96],"in":[30,38,51,82,97,111],"guiding":[31],"robot\u2019s":[33],"end-effector":[34],"along":[35],"predefined":[36],"trajectories":[37],"output":[41],"space,":[42],"emphasizing":[43],"its":[44,109],"relevance":[45],"for":[46,116],"inspection":[47],"maintenance":[49],"tasks":[50],"cluttered":[52],"environments":[53],"where":[54],"traditional":[55],"manipulators":[56],"may":[57],"be":[58],"impractical":[59],"or":[60],"ineffective.":[61],"particular":[63],"mechanical":[64],"design":[65],"unique":[71],"challenges,":[72],"necessitating":[73],"nonlinear":[74],"control":[75],"strategies":[76],"that":[77],"take":[78],"into":[79,119],"account":[80],"constraints":[81],"both":[83],"state":[84],"input":[86],"spaces.":[87],"simulation":[89],"results":[90],"will":[91,107],"demonstrate":[92],"effectiveness":[94],"achieving":[98],"an":[99],"accurate":[100],"convergence":[101],"reference":[104],"path,":[105],"evaluate":[108],"potential,":[110],"terms":[112],"computational":[114],"burden,":[115],"future":[117],"development":[118],"real-world":[120],"scenarios.":[121]},"counts_by_year":[],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
