{"id":"https://openalex.org/W3095121836","doi":"https://doi.org/10.1109/iros45743.2020.9341334","title":"Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics","display_name":"Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3095121836","doi":"https://doi.org/10.1109/iros45743.2020.9341334","mag":"3095121836"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5031101437","display_name":"Francesco Cursi","orcid":"https://orcid.org/0000-0003-1796-4036"},"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":true,"raw_author_name":"Francesco Cursi","raw_affiliation_strings":["Hamlyn Centre, Imperial College London, London, UK","Robot Intelligence Lab, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Hamlyn Centre, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Robot Intelligence Lab, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091705160","display_name":"Valerio Modugno","orcid":"https://orcid.org/0000-0002-5177-428X"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valerio Modugno","raw_affiliation_strings":["Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036281885","display_name":"Petar Kormushev","orcid":"https://orcid.org/0000-0002-6677-3044"},"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":"Petar Kormushev","raw_affiliation_strings":["Robot Intelligence Lab, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Robot Intelligence Lab, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031101437"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.5221,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.62155672,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7653","last_page":"7660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9908999800682068,"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":0.9908999800682068,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9832000136375427,"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/T10172","display_name":"Cardiac Valve Diseases and Treatments","score":0.9528999924659729,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7660441398620605},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7354137897491455},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.6915168762207031},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6746259927749634},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6724463701248169},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6505318880081177},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5370631814002991},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5366138219833374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5051830410957336},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4876216948032379},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.42039090394973755},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4068739414215088},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35151800513267517},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34380030632019043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.207845538854599}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7660441398620605},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7354137897491455},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.6915168762207031},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6746259927749634},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6724463701248169},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6505318880081177},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5370631814002991},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5366138219833374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5051830410957336},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4876216948032379},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42039090394973755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4068739414215088},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35151800513267517},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34380030632019043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.207845538854599},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9341334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/80783","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/80783","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Intelligence Robots and Systems (IROS)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1964649988","https://openalex.org/W1966780058","https://openalex.org/W1977164425","https://openalex.org/W1988115241","https://openalex.org/W1988693037","https://openalex.org/W1997696996","https://openalex.org/W2011182951","https://openalex.org/W2018675870","https://openalex.org/W2019606703","https://openalex.org/W2049617391","https://openalex.org/W2132331000","https://openalex.org/W2144629157","https://openalex.org/W2162394694","https://openalex.org/W2266847535","https://openalex.org/W2412810726","https://openalex.org/W2510118794","https://openalex.org/W2523642729","https://openalex.org/W2527988986","https://openalex.org/W2543071036","https://openalex.org/W2563129138","https://openalex.org/W2586404264","https://openalex.org/W2588333893","https://openalex.org/W2588370846","https://openalex.org/W2782435507","https://openalex.org/W2884675895","https://openalex.org/W2909118190","https://openalex.org/W2910288398","https://openalex.org/W2914267398","https://openalex.org/W2940581269","https://openalex.org/W2979195792","https://openalex.org/W3004010173","https://openalex.org/W3088063282","https://openalex.org/W3098621578","https://openalex.org/W4246482216","https://openalex.org/W6653144448"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W45990023","https://openalex.org/W2370149162","https://openalex.org/W2953861963","https://openalex.org/W1970747297","https://openalex.org/W3013303086"],"abstract_inverted_index":{"In":[0,118],"fields":[1],"such":[2,29],"as":[3,30],"minimally":[4],"invasive":[5],"surgery,":[6],"effective":[7,75],"control":[8,54,155],"strategies":[9,55],"are":[10,112],"needed":[11],"to":[12,39,48,80,114,139],"guarantee":[13],"safety":[14],"and":[15,23,32,65,97,150,173],"accuracy":[16],"of":[17,59,91,130,145,167],"the":[18,53,61,66,89,92,128,143,146,165,168],"surgical":[19,36,110],"task.":[20],"Mechanical":[21],"designs":[22],"actuation":[24],"schemes":[25],"have":[26,177],"inevitable":[27],"limitations":[28],"backlash":[31],"joint":[33],"limits.":[34],"Moreover,":[35],"robots":[37],"need":[38],"operate":[40],"in":[41,104,108],"narrow":[42],"pathways,":[43],"which":[44],"may":[45],"give":[46],"rise":[47],"additional":[49],"environmental":[50],"constraints.":[51,68],"Therefore,":[52],"must":[56],"be":[57,115],"capable":[58],"satisfying":[60],"desired":[62],"motion":[63],"trajectories":[64],"imposed":[67],"Model":[69],"Predictive":[70],"Control":[71],"(MPC)":[72],"has":[73],"proven":[74],"for":[76,127,157],"this":[77,119],"purpose,":[78],"allowing":[79],"solve":[81,151],"an":[82,152],"optimal":[83,153],"problem":[84,156],"by":[85,160],"taking":[86],"into":[87],"consideration":[88,149],"evolution":[90],"system":[93],"states,":[94],"cost":[95],"function,":[96],"constraints":[98,141],"over":[99],"time.":[100],"The":[101,133],"high":[102],"nonlinearities":[103],"tendon-driven":[105,131],"systems,":[106],"adopted":[107],"many":[109],"robots,":[111],"difficult":[113],"modelled":[116],"analytically.":[117],"work,":[120],"we":[121],"use":[122],"a":[123],"model":[124,135],"learning":[125],"approach":[126],"dynamics":[129],"robots.":[132],"dynamic":[134],"is":[136],"then":[137],"employed":[138],"impose":[140],"on":[142],"torques":[144],"robot":[147],"under":[148],"constrained":[154],"trajectory":[158],"tracking":[159],"using":[161],"MPC.":[162],"To":[163],"assess":[164],"capabilities":[166],"proposed":[169],"framework,":[170],"both":[171],"simulated":[172],"real":[174],"world":[175],"experiments":[176],"been":[178],"conducted.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}