{"id":"https://openalex.org/W2022834524","doi":"https://doi.org/10.1109/iros.2012.6386121","title":"Model-based trajectory control of robots with pneumatic actuator dynamics","display_name":"Model-based trajectory control of robots with pneumatic actuator dynamics","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2022834524","doi":"https://doi.org/10.1109/iros.2012.6386121","mag":"2022834524"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5059653874","display_name":"Ryuma Niiyama","orcid":"https://orcid.org/0000-0002-9072-8251"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ryuma Niiyama","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology (MIT), Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology (MIT), Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5059653874"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"634","last_page":"639"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9965000152587891,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7730698585510254},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7428436875343323},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7136209011077881},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6872695684432983},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6320337653160095},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5856636166572571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5206298232078552},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48768365383148193},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4871329963207245},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4628893733024597},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.4347558617591858},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3637782335281372},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1959807276725769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14586132764816284}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7730698585510254},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7428436875343323},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7136209011077881},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6872695684432983},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6320337653160095},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5856636166572571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5206298232078552},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48768365383148193},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4871329963207245},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4628893733024597},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.4347558617591858},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3637782335281372},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1959807276725769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14586132764816284},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6386121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.648.1356","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.648.1356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://groups.csail.mit.edu/robotics-center/public_papers/Niiyama12.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W579997821","https://openalex.org/W1968545506","https://openalex.org/W1973546417","https://openalex.org/W1975230295","https://openalex.org/W1996555579","https://openalex.org/W2001981441","https://openalex.org/W2022144657","https://openalex.org/W2036412313","https://openalex.org/W2056118042","https://openalex.org/W2077673559","https://openalex.org/W2080132051","https://openalex.org/W2080421646","https://openalex.org/W2085987809","https://openalex.org/W2109526590","https://openalex.org/W2116651293","https://openalex.org/W2116655729","https://openalex.org/W2126536142","https://openalex.org/W2145788561","https://openalex.org/W2166425546","https://openalex.org/W6644135095"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W1502247793","https://openalex.org/W2320465958","https://openalex.org/W2014474025","https://openalex.org/W4224212509","https://openalex.org/W2089945071","https://openalex.org/W2585261412","https://openalex.org/W2903587274","https://openalex.org/W2033163742"],"abstract_inverted_index":{"Pneumatic":[0],"actuators":[1],"have":[2],"many":[3],"attributes":[4],"such":[5],"as":[6],"natural":[7],"compliance":[8],"and":[9,80,106],"high":[10],"peak":[11],"power":[12],"capabilities":[13],"that":[14,50,65],"make":[15],"them":[16],"attractive":[17],"for":[18],"research":[19],"in":[20,43],"dynamic":[21,84],"legged":[22],"locomotion.":[23],"However,":[24],"the":[25,31,35,99],"effects":[26],"of":[27,37,69],"nonlinear":[28,77],"flow":[29],"through":[30],"pneumatic":[32,104,113],"components":[33],"limit":[34],"bandwidth":[36,58],"actuators,":[38],"thus":[39],"restricting":[40],"their":[41],"use":[42],"a":[44,51,103,107],"high-performance":[45],"control":[46,53],"system.":[47],"We":[48,89],"believe":[49],"model-based":[52],"design":[54],"can":[55,72],"overcome":[56],"these":[57],"limitations.":[59],"In":[60],"this":[61],"study,":[62],"we":[63],"demonstrate":[64],"black-box":[66],"system":[67,97],"identification":[68],"actuator":[70,105],"dynamics":[71],"be":[73],"effectively":[74],"combined":[75],"with":[76,98,112],"trajectory":[78],"optimization":[79],"stabilization":[81],"to":[82],"accomplish":[83],"tasks":[85],"on":[86],"underactuated":[87,95],"robots.":[88],"present":[90],"two":[91],"case":[92],"studies:":[93],"an":[94],"cart-pole":[96],"cart":[100],"driven":[101],"by":[102],"compass":[108],"gait":[109],"walking":[110],"robot":[111],"toes.":[114]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}