{"id":"https://openalex.org/W2891516490","doi":"https://doi.org/10.1109/icra.2018.8463187","title":"A Nonlinear Control Strategy for Extensible Continuum Robots","display_name":"A Nonlinear Control Strategy for Extensible Continuum Robots","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891516490","doi":"https://doi.org/10.1109/icra.2018.8463187","mag":"2891516490"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8463187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5066418363","display_name":"Chase G. Frazelle","orcid":"https://orcid.org/0000-0001-6242-953X"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chase G. Frazelle","raw_affiliation_strings":["Dept. of Electrical & Computer Engineering, Clemson University, Clemson"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, Clemson University, Clemson","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054122264","display_name":"Apoorva Kapadia","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Apoorva D. Kapadia","raw_affiliation_strings":["Dept. of Electrical & Computer Engineering, Clemson University, Clemson"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, Clemson University, Clemson","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011466895","display_name":"Ian D. Walker","orcid":"https://orcid.org/0000-0002-9465-2960"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian. D. Walker","raw_affiliation_strings":["Dept. of Electrical & Computer Engineering, Clemson University, Clemson"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, Clemson University, Clemson","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":0.446,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.62078981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"23","issue":null,"first_page":"7727","last_page":"7734"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.977400004863739,"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":0.9408000111579895,"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":0.6720126867294312},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.669952392578125},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6640005111694336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5397828817367554},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5191085338592529},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45044955611228943},{"id":"https://openalex.org/keywords/extensibility","display_name":"Extensibility","score":0.41529572010040283},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32761475443840027},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2298939824104309},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1797133982181549},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17557862401008606}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6720126867294312},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.669952392578125},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6640005111694336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5397828817367554},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5191085338592529},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45044955611228943},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.41529572010040283},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32761475443840027},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2298939824104309},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1797133982181549},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17557862401008606},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/icra.2018.8463187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W65677105","https://openalex.org/W575905749","https://openalex.org/W887372645","https://openalex.org/W1508870809","https://openalex.org/W1524590318","https://openalex.org/W1545263182","https://openalex.org/W1550906836","https://openalex.org/W1584054286","https://openalex.org/W1590804794","https://openalex.org/W1824781776","https://openalex.org/W1891615552","https://openalex.org/W1966141623","https://openalex.org/W1969062189","https://openalex.org/W1970557511","https://openalex.org/W1987421030","https://openalex.org/W1988003703","https://openalex.org/W1990886819","https://openalex.org/W2006573361","https://openalex.org/W2008124924","https://openalex.org/W2009995949","https://openalex.org/W2013290215","https://openalex.org/W2049511808","https://openalex.org/W2065682774","https://openalex.org/W2075544631","https://openalex.org/W2087104703","https://openalex.org/W2095462685","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2108770432","https://openalex.org/W2109337728","https://openalex.org/W2137803878","https://openalex.org/W2152205882","https://openalex.org/W2165302798","https://openalex.org/W2170645823","https://openalex.org/W2409703994","https://openalex.org/W2737666157","https://openalex.org/W2750248357","https://openalex.org/W2785166398","https://openalex.org/W3128480362","https://openalex.org/W3138374851","https://openalex.org/W4251181231","https://openalex.org/W6602681392","https://openalex.org/W6635067934","https://openalex.org/W6641577243","https://openalex.org/W6653864348","https://openalex.org/W6680720639","https://openalex.org/W6714386546","https://openalex.org/W6741766377","https://openalex.org/W6747587770","https://openalex.org/W6790081719","https://openalex.org/W6793585564"],"related_works":["https://openalex.org/W1948607442","https://openalex.org/W3004004161","https://openalex.org/W2044615423","https://openalex.org/W4247766898","https://openalex.org/W4244765761","https://openalex.org/W2361584951","https://openalex.org/W2365327041","https://openalex.org/W4225348249","https://openalex.org/W31122515","https://openalex.org/W2466086502"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,49],"describe":[4],"a":[5,38,44,60,64,80],"novel":[6],"nonlinear":[7],"control":[8,13,53,66],"strategy":[9],"for":[10,43],"the":[11,29,76],"closed-loop":[12],"of":[14,31,37,59,75],"extensible":[15,70],"continuum":[16,22,47,71,83],"robots.":[17],"Previous":[18],"attempts":[19],"at":[20],"controlling":[21],"robots":[23],"have":[24],"proved":[25],"difficult":[26],"due":[27],"to":[28],"complexity":[30],"their":[32],"system":[33],"dynamics.":[34],"Taking":[35],"advantage":[36],"previously":[39],"developed":[40],"dynamic":[41],"model":[42],"three-section,":[45],"planar,":[46],"manipulator,":[48],"develop":[50],"an":[51,69],"adaptation-based":[52],"law.":[54],"We":[55],"present":[56],"simulation":[57],"results":[58,74],"set-point":[61],"tracking":[62],"between":[63],"rigid-link":[65],"device":[67],"and":[68],"manipulator.":[72],"Experimental":[73],"controller":[77],"implemented":[78],"on":[79],"six":[81],"degree-of-freedom":[82],"robot":[84],"are":[85],"also":[86],"presented.":[87]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}