{"id":"https://openalex.org/W4381885995","doi":"https://doi.org/10.1109/iccad57653.2023.10152366","title":"Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space","display_name":"Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space","publication_year":2023,"publication_date":"2023-05-10","ids":{"openalex":"https://openalex.org/W4381885995","doi":"https://doi.org/10.1109/iccad57653.2023.10152366"},"language":"en","primary_location":{"id":"doi:10.1109/iccad57653.2023.10152366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccad57653.2023.10152366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Control, Automation and Diagnosis (ICCAD)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10044/1/104017","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040464760","display_name":"Shen Treratanakulchai","orcid":"https://orcid.org/0000-0001-8530-9274"},"institutions":[{"id":"https://openalex.org/I25399158","display_name":"Mahidol University","ror":"https://ror.org/01znkr924","country_code":"TH","type":"education","lineage":["https://openalex.org/I25399158"]}],"countries":["TH"],"is_corresponding":true,"raw_author_name":"Shen Treratanakulchai","raw_affiliation_strings":["Mahidol University,Biomedical Engineering Department,Nakhon Pathom,Thailand","Biomedical Engineering Department, Mahidol University, Nakhon Pathom, Thailand"],"affiliations":[{"raw_affiliation_string":"Mahidol University,Biomedical Engineering Department,Nakhon Pathom,Thailand","institution_ids":["https://openalex.org/I25399158"]},{"raw_affiliation_string":"Biomedical Engineering Department, Mahidol University, Nakhon Pathom, Thailand","institution_ids":["https://openalex.org/I25399158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107048790","display_name":"Enrico Franco","orcid":"https://orcid.org/0000-0001-9991-7377"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Enrico Franco","raw_affiliation_strings":["Imperial College,Mechanical Engineering Department,London,United Kingdom","Mechanical Engineering Department, Imperial College, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College,Mechanical Engineering Department,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Mechanical Engineering Department, Imperial College, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I2801748203","display_name":"Hammersmith Hospital","ror":"https://ror.org/05jg8yp15","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I153355300","https://openalex.org/I2801748203"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["Imperial College,The Hamlyn Centre for Robotic Surgery,London,United Kingdom","The Hamlyn Centre for Robotic Surgery, Imperial College, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College,The Hamlyn Centre for Robotic Surgery,London,United Kingdom","institution_ids":["https://openalex.org/I2801748203"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040464760"],"corresponding_institution_ids":["https://openalex.org/I25399158"],"apc_list":null,"apc_paid":null,"fwci":0.675,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.64576266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.989300012588501,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9732999801635742,"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/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.8335748910903931},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.689654529094696},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6397841572761536},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6304709911346436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49397140741348267},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.46028533577919006},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.416644811630249},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3588259816169739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3052592873573303},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27968132495880127},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2511383891105652},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24612683057785034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20976009964942932},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1377328634262085}],"concepts":[{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.8335748910903931},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.689654529094696},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6397841572761536},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6304709911346436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49397140741348267},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.46028533577919006},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.416644811630249},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3588259816169739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3052592873573303},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27968132495880127},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2511383891105652},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24612683057785034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20976009964942932},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1377328634262085},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iccad57653.2023.10152366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccad57653.2023.10152366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Control, Automation and Diagnosis (ICCAD)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/104017","is_oa":true,"landing_page_url":"http://hdl.handle.net/10044/1/104017","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Control, Automation and Diagnosis","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/104017","is_oa":true,"landing_page_url":"http://hdl.handle.net/10044/1/104017","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Control, Automation and Diagnosis","raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2286143923","display_name":"Self-propelled soft robotic endoscopes for next-generation gastrointestinal surgery (ROBOGAST)","funder_award_id":"EP/W004224/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G228904161","display_name":null,"funder_award_id":"EP/W004224/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2127966735","https://openalex.org/W2770049904","https://openalex.org/W2803735436","https://openalex.org/W2897391301","https://openalex.org/W2926374707","https://openalex.org/W2942096073","https://openalex.org/W2990316883","https://openalex.org/W3005284536","https://openalex.org/W3008109267","https://openalex.org/W3123890001","https://openalex.org/W3133756800","https://openalex.org/W3165769240","https://openalex.org/W3194235646","https://openalex.org/W3197391101","https://openalex.org/W4206100786","https://openalex.org/W4313119588"],"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/W2946737911"],"abstract_inverted_index":{"This":[0,36],"work":[1],"investigates":[2],"the":[3],"position":[4],"control":[5],"in":[6,56],"Cartesian":[7],"space":[8],"of":[9,44,51],"a":[10,22,41,46,66,70],"soft":[11],"continuum":[12],"manipulator":[13,42],"with":[14,65],"pneumatic":[15],"actuation.":[16],"To":[17],"this":[18],"end,":[19],"we":[20],"employ":[21],"feedback":[23],"integral":[24],"action":[25],"initialized":[26],"using":[27],"an":[28],"optimized":[29],"mapping":[30],"between":[31],"pressure":[32],"and":[33,64],"tip":[34],"position.":[35],"approach":[37],"is":[38],"detailed":[39],"for":[40],"consisting":[43],"either":[45],"single":[47],"actuated":[48,53],"segment":[49],"or":[50],"two":[52],"segments":[54],"connected":[55],"series.":[57],"Experiments":[58],"are":[59],"conducted":[60],"on":[61],"individual":[62],"prototypes":[63],"teleoperation":[67],"setup":[68],"including":[69],"master":[71],"unit":[72],"from":[73],"our":[74],"track":[75],"record.":[76]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}