{"id":"https://openalex.org/W2910946569","doi":"https://doi.org/10.1109/icarm.2018.8610794","title":"Constraints following control of snake robot by leakage-type adaptive law","display_name":"Constraints following control of snake robot by leakage-type adaptive law","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2910946569","doi":"https://doi.org/10.1109/icarm.2018.8610794","mag":"2910946569"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5100703821","display_name":"Chenming Li","orcid":"https://orcid.org/0000-0002-8446-2549"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenming Li","raw_affiliation_strings":["Mechanical Engineering He Fei University of Technology, He Fei, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering He Fei University of Technology, He Fei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043738670","display_name":"Shengchao Zhen","orcid":"https://orcid.org/0000-0002-8431-6453"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengchao Zhen","raw_affiliation_strings":["Mechanical Engineering He Fei University of Technology, He Fei, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering He Fei University of Technology, He Fei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013017278","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0003-1036-0256"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Sun","raw_affiliation_strings":["Mechanical Engineering He Fei University of Technology, He Fei, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering He Fei University of Technology, He Fei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068590870","display_name":"Zhao Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhao","raw_affiliation_strings":["Mechanical Engineering He Fei University of Technology, He Fei, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering He Fei University of Technology, He Fei, China","institution_ids":["https://openalex.org/I16365422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100703821"],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":0.109,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.47466587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"274","last_page":"279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9829999804496765,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9710999727249146,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7179015278816223},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6525500416755676},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6388196349143982},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5474817752838135},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5068944096565247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4961021840572357},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4647720456123352},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.44994890689849854},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.31249499320983887},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27097976207733154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20525836944580078}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7179015278816223},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6525500416755676},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6388196349143982},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5474817752838135},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5068944096565247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4961021840572357},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4647720456123352},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.44994890689849854},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.31249499320983887},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27097976207733154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20525836944580078},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W137546812","https://openalex.org/W1561756543","https://openalex.org/W1593430322","https://openalex.org/W1602369473","https://openalex.org/W1837437011","https://openalex.org/W1966086223","https://openalex.org/W1991493129","https://openalex.org/W2003701638","https://openalex.org/W2065038595","https://openalex.org/W2094489189","https://openalex.org/W2100972151","https://openalex.org/W2107388336","https://openalex.org/W2116876605","https://openalex.org/W2145678503","https://openalex.org/W2152990685","https://openalex.org/W2155813418","https://openalex.org/W2163942943","https://openalex.org/W2167704915","https://openalex.org/W2170957244","https://openalex.org/W2328053688","https://openalex.org/W4233512036","https://openalex.org/W4241590110","https://openalex.org/W6633603613","https://openalex.org/W6636020184","https://openalex.org/W6642088846"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2165424018","https://openalex.org/W2317650444"],"abstract_inverted_index":{"A":[0],"modeling":[1],"approach":[2],"and":[3,27,32,98],"adaptive":[4,54],"robust":[5],"control":[6,67],"are":[7],"proposed":[8,110],"for":[9],"snake":[10,71,90],"robot":[11,72,91],"in":[12],"this":[13,37],"paper.":[14],"First,":[15],"the":[16,23,60,64,70,74,81,87,95,99,109],"dynamic":[17],"equation":[18],"is":[19,40,56],"obtained":[20],"by":[21,30,107],"dividing":[22],"constraints":[24,29],"into":[25],"structural":[26],"performance":[28],"Udwadia":[31],"Kalaba":[33],"approach.":[34,111],"According":[35],"to":[36,58],"approach,":[38],"there":[39],"no":[41],"approximation,":[42],"linearization":[43],"or":[44],"extra":[45],"variables":[46],"such":[47],"as":[48],"Lagrangian":[49],"multiplier.":[50],"Next,":[51],"a":[52],"leakage-type":[53],"law":[55],"used":[57],"estimate":[59],"unknown":[61],"bound":[62],"of":[63,78,89],"uncertainty.":[65,79],"This":[66],"can":[68,93,103],"guarantee":[69],"follow":[73],"trajectory":[75],"accurately,":[76],"regardless":[77],"In":[80],"end,":[82],"simulation":[83],"results":[84],"verify":[85],"that":[86],"movement":[88],"head":[92],"satisfy":[94],"desired":[96],"one":[97],"real-time":[100],"joint":[101],"torque":[102],"be":[104],"acquired":[105],"conveniently":[106],"using":[108]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
