{"id":"https://openalex.org/W2562927800","doi":"https://doi.org/10.1109/iros.2016.7759103","title":"Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control","display_name":"Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2562927800","doi":"https://doi.org/10.1109/iros.2016.7759103","mag":"2562927800"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5086671966","display_name":"Gargi Das","orcid":"https://orcid.org/0000-0002-7950-2155"},"institutions":[{"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"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":"G. Kumar Hari Shankar Lal Das","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","INSA, Univ de Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"INSA, Univ de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I196454796"]}]},{"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/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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"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":"B. Tondu","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","INSA, Univ de Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"INSA, Univ de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I196454796"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044229329","display_name":"Florent Forget","orcid":null},"institutions":[{"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Forget","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074535594","display_name":"J\u00e9r\u00f4me Manh\u00e8s","orcid":null},"institutions":[{"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Manhes","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071048560","display_name":"Olivier Stasse","orcid":"https://orcid.org/0000-0001-8569-6155"},"institutions":[{"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"O. Stasse","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014128188","display_name":"Philippe Sou\u00e8res","orcid":"https://orcid.org/0000-0001-9064-4405"},"institutions":[{"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/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Soueres","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6823,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72331789,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"521","last_page":"528"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976000189781189,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976000189781189,"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":0.9908999800682068,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9797000288963318,"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/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.8457923531532288},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7472580671310425},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.692986011505127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5801404118537903},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5603630542755127},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4805470108985901},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.44813215732574463},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44204437732696533},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.4143155813217163},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4119933545589447},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3848317861557007},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.30432772636413574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27705007791519165},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13888397812843323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11315903067588806},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1023353636264801}],"concepts":[{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.8457923531532288},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7472580671310425},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.692986011505127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5801404118537903},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5603630542755127},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4805470108985901},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44813215732574463},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44204437732696533},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.4143155813217163},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4119933545589447},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3848317861557007},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.30432772636413574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27705007791519165},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13888397812843323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11315903067588806},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1023353636264801},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759103","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01432100v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01432100","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":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejon, South Korea. ⟨10.1109/IROS.2016.7759103⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1530782822","https://openalex.org/W1964946446","https://openalex.org/W1998879302","https://openalex.org/W2006674054","https://openalex.org/W2011833550","https://openalex.org/W2043437964","https://openalex.org/W2053036469","https://openalex.org/W2057114901","https://openalex.org/W2066557929","https://openalex.org/W2070184318","https://openalex.org/W2073408938","https://openalex.org/W2122331303","https://openalex.org/W2123847183","https://openalex.org/W2131326336","https://openalex.org/W2138789117","https://openalex.org/W2170447269","https://openalex.org/W2802979129"],"related_works":["https://openalex.org/W2742397931","https://openalex.org/W2012595107","https://openalex.org/W4253527034","https://openalex.org/W2058125982","https://openalex.org/W211888945","https://openalex.org/W2384571910","https://openalex.org/W4386272349","https://openalex.org/W2120869143","https://openalex.org/W2313071244","https://openalex.org/W2711900214"],"abstract_inverted_index":{"Pneumatic":[0],"actuators":[1,24],"have":[2],"inherent":[3],"compliance":[4,106,115],"and":[5,67,126,133],"hence":[6],"they":[7],"are":[8,136],"very":[9],"interesting":[10],"for":[11],"applications":[12],"involving":[13],"interaction":[14],"with":[15,48],"environment":[16],"or":[17],"human.":[18],"But":[19],"controlling":[20,93],"such":[21],"kind":[22],"of":[23,33,56,69,104],"is":[25,62,78,90,107,120],"not":[26],"trivial.":[27],"The":[28,60,117],"paper":[29],"presents":[30],"an":[31,45,53],"implementation":[32],"iterative":[34],"Linear":[35],"Quadratic":[36],"regulator":[37],"(iLQR)":[38],"based":[39],"optimal":[40,88],"control":[41,44,83,89],"framework":[42],"to":[43,64,81,85],"anthropomorphic":[46],"arm":[47],"each":[49],"joint":[50],"actuated":[51],"by":[52,72,109,123],"agonist-antagonistic":[54],"pair":[55],"Mckibben":[57],"artificial":[58],"muscles.":[59],"method":[61],"applied":[63],"positioning":[65],"tasks":[66,112],"generation":[68],"explosive":[70],"movements":[71],"maximizing":[73],"the":[74,94,102,111,131],"link":[75],"speed.":[76],"It":[77],"then":[79],"compared":[80],"traditional":[82],"strategies":[84],"justify":[86],"that":[87],"effective":[91],"in":[92,96,129],"position":[95],"highly":[97],"non-linear":[98],"pneumatic":[99],"systems.":[100],"Also":[101],"importance":[103],"varying":[105],"highlighted":[108],"repeating":[110],"at":[113],"different":[114],"level.":[116],"algorithm":[118],"validation":[119],"reported":[121],"here":[122],"several":[124],"simulations":[125],"hardware":[127],"experiments":[128],"which":[130],"shoulder":[132],"elbow":[134],"flexion":[135],"controlled":[137],"simultaneously.":[138]},"counts_by_year":[{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2017-01-06T00:00:00"}