{"id":"https://openalex.org/W2135740347","doi":"https://doi.org/10.1109/icra.2011.5980553","title":"Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles","display_name":"Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2135740347","doi":"https://doi.org/10.1109/icra.2011.5980553","mag":"2135740347"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5023291343","display_name":"Sofiane Ouanezar","orcid":null},"institutions":[{"id":"https://openalex.org/I12356871","display_name":"T\u00e9l\u00e9com Paris","ror":"https://ror.org/01naq7912","country_code":"FR","type":"education","lineage":["https://openalex.org/I12356871","https://openalex.org/I205703379","https://openalex.org/I4210145102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sofiane Ouanezar","raw_affiliation_strings":["Signal and Image Processing Department, TELECOM ParisTech, Paris, France","Signal and Image Processing department, TELECOM ParisTech, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Signal and Image Processing Department, TELECOM ParisTech, Paris, France","institution_ids":["https://openalex.org/I12356871"]},{"raw_affiliation_string":"Signal and Image Processing department, TELECOM ParisTech, France","institution_ids":["https://openalex.org/I12356871"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013119422","display_name":"Fr\u00e9d\u00e9ric Jean","orcid":"https://orcid.org/0000-0001-8170-076X"},"institutions":[{"id":"https://openalex.org/I201181511","display_name":"\u00c9cole Nationale Sup\u00e9rieure de Techniques Avanc\u00e9es","ror":"https://ror.org/0309cs235","country_code":"FR","type":"education","lineage":["https://openalex.org/I201181511","https://openalex.org/I4210145102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Frederic Jean","raw_affiliation_strings":["Applied Mathematics Department, ENSTA, Paris, France","Applied Mathematics Departement, ENSTA, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Mathematics Department, ENSTA, Paris, France","institution_ids":["https://openalex.org/I201181511"]},{"raw_affiliation_string":"Applied Mathematics Departement, ENSTA, Paris, France","institution_ids":["https://openalex.org/I201181511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021488416","display_name":"Bertrand Tondu","orcid":"https://orcid.org/0000-0002-0301-397X"},"institutions":[{"id":"https://openalex.org/I196454796","display_name":"Institut National des Sciences Appliqu\u00e9es de Toulouse","ror":"https://ror.org/01h8pf755","country_code":"FR","type":"education","lineage":["https://openalex.org/I196454796"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bertrand Tondu","raw_affiliation_strings":["LATTIS Laboratory, INSA, Toulouse, France","LATTIS Lab, INSA, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LATTIS Laboratory, INSA, Toulouse, France","institution_ids":["https://openalex.org/I196454796"]},{"raw_affiliation_string":"LATTIS Lab, INSA, Toulouse, France","institution_ids":["https://openalex.org/I196454796"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008021208","display_name":"Marc A. Maier","orcid":"https://orcid.org/0000-0002-6476-6166"},"institutions":[{"id":"https://openalex.org/I110736937","display_name":"D\u00e9l\u00e9gation Paris 5","ror":"https://ror.org/02e0y6e06","country_code":"FR","type":"government","lineage":["https://openalex.org/I110736937","https://openalex.org/I154526488"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marc A. Maier","raw_affiliation_strings":["CESeM Laboratory, CNRS UMR 8194, Universit\u00e9 Paris Descartes and Universit\u00e9 Paris Diderot, Paris, France","CESeM Lab, CNRS UMR 8194, Universit\u00e9 Paris Descartes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESeM Laboratory, CNRS UMR 8194, Universit\u00e9 Paris Descartes and Universit\u00e9 Paris Diderot, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I204730241"]},{"raw_affiliation_string":"CESeM Lab, CNRS UMR 8194, Universit\u00e9 Paris Descartes, France","institution_ids":["https://openalex.org/I110736937","https://openalex.org/I1294671590","https://openalex.org/I204730241"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089009779","display_name":"C. Darlot","orcid":null},"institutions":[{"id":"https://openalex.org/I12356871","display_name":"T\u00e9l\u00e9com Paris","ror":"https://ror.org/01naq7912","country_code":"FR","type":"education","lineage":["https://openalex.org/I12356871","https://openalex.org/I205703379","https://openalex.org/I4210145102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Darlot","raw_affiliation_strings":["Signal and Image Processing Department, TELECOM ParisTech, Paris, France","Signal and Image Processing department, TELECOM ParisTech, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Signal and Image Processing Department, TELECOM ParisTech, Paris, France","institution_ids":["https://openalex.org/I12356871"]},{"raw_affiliation_string":"Signal and Image Processing department, TELECOM ParisTech, France","institution_ids":["https://openalex.org/I12356871"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043206711","display_name":"S\u00e9lim Eskiizmirliler","orcid":null},"institutions":[{"id":"https://openalex.org/I110736937","display_name":"D\u00e9l\u00e9gation Paris 5","ror":"https://ror.org/02e0y6e06","country_code":"FR","type":"government","lineage":["https://openalex.org/I110736937","https://openalex.org/I154526488"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I204730241","display_name":"Universit\u00e9 Paris Cit\u00e9","ror":"https://ror.org/05f82e368","country_code":"FR","type":"education","lineage":["https://openalex.org/I204730241"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Selim Eskiizmirliler","raw_affiliation_strings":["CESeM Laboratory, CNRS UMR 8194, Universit\u00e9 Paris Descartes and Universit\u00e9 Paris Diderot, Paris, France","CESeM Lab, CNRS UMR 8194, Universit\u00e9 Paris Descartes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CESeM Laboratory, CNRS UMR 8194, Universit\u00e9 Paris Descartes and Universit\u00e9 Paris Diderot, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I204730241"]},{"raw_affiliation_string":"CESeM Lab, CNRS UMR 8194, Universit\u00e9 Paris Descartes, France","institution_ids":["https://openalex.org/I110736937","https://openalex.org/I1294671590","https://openalex.org/I204730241"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"2785","last_page":"2791"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980000257492065,"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/T10542","display_name":"Vestibular and auditory disorders","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2808","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6413194537162781},{"id":"https://openalex.org/keywords/motor-control","display_name":"Motor control","score":0.5607262849807739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5352993607521057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5102658271789551},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.49355876445770264},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.441161572933197},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.44109973311424255},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4222142696380615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35260507464408875},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3396637439727783},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32408416271209717},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3103072941303253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2638115882873535},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24344512820243835},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.150199294090271}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6413194537162781},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.5607262849807739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5352993607521057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5102658271789551},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.49355876445770264},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.441161572933197},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.44109973311424255},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4222142696380615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35260507464408875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3396637439727783},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32408416271209717},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3103072941303253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2638115882873535},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24344512820243835},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.150199294090271},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5980553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03502576v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03502576","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation (ICRA), May 2011, Shanghai, France. pp.2785-2791, &#x27E8;10.1109/ICRA.2011.5980553&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1552381336","https://openalex.org/W1973266561","https://openalex.org/W1981297107","https://openalex.org/W1993696707","https://openalex.org/W2015637255","https://openalex.org/W2018753175","https://openalex.org/W2019658020","https://openalex.org/W2032629007","https://openalex.org/W2060054159","https://openalex.org/W2075665491","https://openalex.org/W2077247990","https://openalex.org/W2081817157","https://openalex.org/W2092685321","https://openalex.org/W2097861969","https://openalex.org/W2105209710","https://openalex.org/W2105848810","https://openalex.org/W2132494021","https://openalex.org/W2137239477","https://openalex.org/W2141962556","https://openalex.org/W2146258231","https://openalex.org/W4296154082"],"related_works":["https://openalex.org/W2292082415","https://openalex.org/W2384943760","https://openalex.org/W3110875495","https://openalex.org/W2390068883","https://openalex.org/W2946812255","https://openalex.org/W2343471997","https://openalex.org/W3006542628","https://openalex.org/W1584165668","https://openalex.org/W2081817157","https://openalex.org/W2345277578"],"abstract_inverted_index":{"This":[0],"study":[1],"focuses":[2],"on":[3],"biomimetic":[4],"sensory":[5],"motor":[6],"control":[7,34,88],"of":[8,30,41,46,65,72,83,89,110,113],"a":[9,15,51,90],"robotic":[10,92],"arm.":[11],"We":[12],"have":[13],"developed":[14],"command":[16],"circuit":[17,35,57],"that":[18,55],"was":[19],"mathematically":[20],"deduced":[21],"from":[22],"physical":[23],"and":[24,100,107],"mathematical":[25],"constraints":[26],"describing":[27],"the":[28,42,47,56,66,69,73,87,102],"function":[29,45],"cerebellar":[31,74],"pathways.":[32,75],"The":[33,63],"contains":[36],"an":[37,59,81],"internal":[38],"predictive":[39],"model":[40,67,85],"direct":[43],"biomechanical":[44],"limb":[48],"placed":[49],"in":[50],"closed":[52],"loop,":[53],"so":[54],"computes":[58],"approximate":[60],"inverse":[61],"function.":[62],"structure":[64],"resembles":[68],"anatomic":[70],"connectivity":[71],"In":[76],"this":[77,84],"paper,":[78],"we":[79],"present":[80],"application":[82],"to":[86],"2-link":[91],"arm":[93],"actuated":[94],"by":[95,105],"four":[96],"single-joint":[97],"McKibben":[98],"muscles":[99],"report":[101],"results":[103],"obtained":[104],"simulation":[106],"real-time":[108],"learning":[109],"2":[111],"degrees":[112],"freedom":[114],"pointing":[115],"movements.":[116]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2016-06-24T00:00:00"}
