{"id":"https://openalex.org/W4403535180","doi":"https://doi.org/10.1109/icarm62033.2024.10715915","title":"Adaptive Robust Constraint-following Control for Mechanical Biomimetic Joint Powered by Pneumatic Muscle","display_name":"Adaptive Robust Constraint-following Control for Mechanical Biomimetic Joint Powered by Pneumatic Muscle","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403535180","doi":"https://doi.org/10.1109/icarm62033.2024.10715915"},"language":"en","primary_location":{"id":"doi:10.1109/icarm62033.2024.10715915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5025798566","display_name":"Feifei Qin","orcid":"https://orcid.org/0000-0001-5589-7300"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feifei Qin","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zexuan Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zexuan Liu","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112352702","display_name":"Yinglian Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinglian Jin","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101219831","display_name":"Junwei Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junwei Fang","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113139976","display_name":"Lina Wang","orcid":"https://orcid.org/0009-0001-2269-810X"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lina Wang","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326852","display_name":"Dan Liu","orcid":"https://orcid.org/0000-0002-6426-625X"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Liu","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074704174","display_name":"Zeling Chen","orcid":"https://orcid.org/0000-0003-4888-3888"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeling Chen","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101634370","display_name":"Binrui Wang","orcid":"https://orcid.org/0000-0002-3521-9999"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binrui Wang","raw_affiliation_strings":["China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University,College of Mechanical and Electrical Engineering,Hangzhou,Zhejiang,PR China,310018","institution_ids":["https://openalex.org/I55538621"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55538621"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"241","last_page":"246"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9269000291824341,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9269000291824341,"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/constraint","display_name":"Constraint (computer-aided design)","score":0.6366887092590332},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.6140317320823669},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5886492133140564},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5290662050247192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49784302711486816},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49672824144363403},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49653321504592896},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.47022342681884766},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4525744318962097},{"id":"https://openalex.org/keywords/pneumatics","display_name":"Pneumatics","score":0.43162912130355835},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.4305289089679718},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3104303777217865},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30793291330337524},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27175572514533997},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.24356600642204285},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22790688276290894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21245789527893066},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1053881049156189}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6366887092590332},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.6140317320823669},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5886492133140564},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5290662050247192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49784302711486816},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49672824144363403},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49653321504592896},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.47022342681884766},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4525744318962097},{"id":"https://openalex.org/C2777380305","wikidata":"https://www.wikidata.org/wiki/Q211500","display_name":"Pneumatics","level":2,"score":0.43162912130355835},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.4305289089679718},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3104303777217865},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30793291330337524},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27175572514533997},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.24356600642204285},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22790688276290894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21245789527893066},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1053881049156189},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm62033.2024.10715915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8500000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W643758835","https://openalex.org/W1508793703","https://openalex.org/W1943450563","https://openalex.org/W2013876510","https://openalex.org/W2101204737","https://openalex.org/W2977564045","https://openalex.org/W3018942752","https://openalex.org/W3207309611","https://openalex.org/W4224101232","https://openalex.org/W4367663131","https://openalex.org/W4381383781","https://openalex.org/W4383752712","https://openalex.org/W4392397246"],"related_works":["https://openalex.org/W2162848954","https://openalex.org/W91770536","https://openalex.org/W2020912483","https://openalex.org/W2742397931","https://openalex.org/W2066967876","https://openalex.org/W2360194697","https://openalex.org/W1573724835","https://openalex.org/W2392633674","https://openalex.org/W211888945","https://openalex.org/W1972931062"],"abstract_inverted_index":{"Biomimetic":[0],"robots":[1],"aim":[2],"to":[3,58,71,141,149,184],"mimic":[4],"the":[5,21,50,63,73,91,98,104,134,143,151,156,165,177],"properties":[6,96],"of":[7,24,49,75,97,125,155],"living":[8],"organisms,":[9],"such":[10],"as":[11],"animals":[12,25],"or":[13,26],"humans.":[14],"This":[15,77],"can":[16],"be":[17,53],"achieved":[18],"by":[19,86,160],"imitating":[20],"physical":[22],"structure":[23,93],"humans":[27],"and":[28,42,55,94,107,112,145,168,182],"using":[29],"artificial":[30],"muscles,":[31],"among":[32],"other":[33],"techniques.":[34],"However,":[35],"mechanical":[36,82,113],"biomimetic":[37,83,157],"systems":[38],"are":[39,115,171],"mostly":[40],"nonlinear":[41],"time-delay,":[43],"aggravating":[44],"system":[45,51],"uncertainty.":[46,76,153],"The":[47,173],"uncertainty":[48],"cannot":[52],"eliminated":[54],"poses":[56],"challenges":[57],"precise":[59],"control.":[60],"To":[61],"resolve":[62],"challenges,":[64],"an":[65,120,128,146],"adaptive":[66,121,147],"robust":[67,122,139],"control":[68,123,167,170],"is":[69,180],"proposed":[70,166,178],"offset":[72],"impact":[74],"paper":[78],"first":[79],"designs":[80],"a":[81,138],"joint":[84,158],"powered":[85,159],"pneumatic":[87],"muscles":[88],"based":[89,132,163],"on":[90,133,164],"skeletal":[92],"strength":[95],"human":[99],"lower":[100],"joint.":[101],"After":[102],"that,":[103],"system\u2019s":[105],"kinematics":[106],"dynamics":[108],"(including":[109],"both":[110],"driving":[111],"parts)":[114],"analyzed.":[116],"Then,":[117],"we":[118],"propose":[119],"consisting":[124],"three":[126],"parts:":[127],"explicit":[129],"constraint-following":[130],"term":[131,140,148],"nominal":[135],"dynamic":[136],"model,":[137],"enhance":[142],"robustness,":[144],"consider":[150],"parameter":[152],"Simulations":[154],"Pneumatic":[161],"muscle":[162],"PID":[169],"presented.":[172],"results":[174],"show":[175],"that":[176],"controller":[179],"practical":[181],"easy":[183],"use.":[185]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
