{"id":"https://openalex.org/W2579151732","doi":"https://doi.org/10.1109/lra.2017.2651941","title":"Design and Optimal Control of an Underactuated Cable-Driven Micro\u2013Macro Robot","display_name":"Design and Optimal Control of an Underactuated Cable-Driven Micro\u2013Macro Robot","publication_year":2017,"publication_date":"2017-01-11","ids":{"openalex":"https://openalex.org/W2579151732","doi":"https://doi.org/10.1109/lra.2017.2651941","mag":"2579151732"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2651941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2651941","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5027448093","display_name":"Luca Barbazza","orcid":null},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Barbazza","raw_affiliation_strings":["Department of Management and Engineering, University of Padua, I-35131 Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Management and Engineering, University of Padua, I-35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086321664","display_name":"Damiano Zanotto","orcid":"https://orcid.org/0000-0003-3514-6889"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Damiano Zanotto","raw_affiliation_strings":["Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070709789","display_name":"Giulio Rosati","orcid":"https://orcid.org/0000-0002-5150-9486"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Rosati","raw_affiliation_strings":["Department of Management and Engineering, University of Padua, I-35131 Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Management and Engineering, University of Padua, I-35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunil K. Agrawal","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027448093"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":null,"apc_paid":null,"fwci":1.4435,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.79859653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2","issue":"2","first_page":"896","last_page":"903"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.996399998664856,"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":0.996399998664856,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9944999814033508,"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/underactuation","display_name":"Underactuation","score":0.8184621930122375},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7466669678688049},{"id":"https://openalex.org/keywords/macro","display_name":"Macro","score":0.6404645442962646},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5921189785003662},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5900557041168213},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5571919679641724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565608143806458},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.511884331703186},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4935823678970337},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.47359564900398254},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34317296743392944},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3099614381790161},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.25352102518081665},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24053743481636047},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11019644141197205}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8184621930122375},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7466669678688049},{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.6404645442962646},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5921189785003662},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5900557041168213},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5571919679641724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565608143806458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.511884331703186},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4935823678970337},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47359564900398254},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34317296743392944},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3099614381790161},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.25352102518081665},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24053743481636047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11019644141197205},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2651941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2651941","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3219812","is_oa":false,"landing_page_url":"http://hdl.handle.net/11577/3219812","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3788945978","display_name":null,"funder_award_id":"20124SMZ88","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"}],"funders":[{"id":"https://openalex.org/F4320316209","display_name":"Fondazione Zegna","ror":null},{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W22327656","https://openalex.org/W48920821","https://openalex.org/W1493705915","https://openalex.org/W1571967584","https://openalex.org/W1618094120","https://openalex.org/W1968535060","https://openalex.org/W1976226895","https://openalex.org/W2002849796","https://openalex.org/W2005660629","https://openalex.org/W2010142289","https://openalex.org/W2020966348","https://openalex.org/W2039157407","https://openalex.org/W2052171761","https://openalex.org/W2056295510","https://openalex.org/W2065297540","https://openalex.org/W2086790315","https://openalex.org/W2087355026","https://openalex.org/W2100913768","https://openalex.org/W2111034649","https://openalex.org/W2126950418","https://openalex.org/W2139597907","https://openalex.org/W2152616154","https://openalex.org/W2158152563","https://openalex.org/W2160011236","https://openalex.org/W2169259862","https://openalex.org/W2228014351","https://openalex.org/W2496918646","https://openalex.org/W3150261201","https://openalex.org/W4205362845","https://openalex.org/W4236006554","https://openalex.org/W4296154082","https://openalex.org/W6651073793"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380","https://openalex.org/W1990940587","https://openalex.org/W4214678870","https://openalex.org/W2738744783","https://openalex.org/W2222614663","https://openalex.org/W2374485569"],"abstract_inverted_index":{"In":[0,90],"this":[1],"paper,":[2],"a":[3,21,92,118],"planar":[4],"underactuated":[5],"cable-driven":[6],"micro-macro":[7],"robot":[8,62],"is":[9,27,80,96],"presented.":[10],"The":[11,25,42,68],"system":[12,26,85],"consists":[13],"of":[14,40,134,142],"two-link":[15],"passive":[16],"serial":[17,43],"manipulator":[18],"attached":[19],"to":[20,47,51,65,82,101,127],"cable-suspended":[22],"parallel":[23],"robot.":[24],"conceived":[28],"for":[29,87,117],"applications":[30],"requiring":[31],"point-to-point":[32,88],"motions":[33],"inside":[34],"large":[35],"workspaces":[36],"in":[37],"the":[38,52,60,76,84,103,132,135,139,143],"presence":[39],"obstacles:":[41],"arm":[44],"allows":[45,99,125],"us":[46,100],"reach":[48],"points":[49],"close":[50],"obstacles":[53],"that":[54,106],"would":[55],"not":[56],"be":[57],"reachable":[58],"by":[59],"cable":[61],"alone":[63],"due":[64],"cable-obstacle":[66],"interference.":[67],"kinematic":[69],"and":[70,75,114],"dynamic":[71,140],"models":[72],"are":[73],"presented":[74],"differential":[77],"flatness":[78],"framework":[79,95],"applied":[81],"make":[83],"controllable":[86],"movements.":[89],"addition,":[91],"multiobjective":[93],"optimization":[94],"presented,":[97],"which":[98],"choose":[102],"design":[104,136],"parameters":[105,137],"minimize":[107],"two":[108],"conflicting":[109],"objective":[110],"functions":[111],"(movement":[112],"time":[113],"control":[115],"effort)":[116],"given":[119],"movement":[120],"task.":[121],"This":[122],"novel":[123],"approach":[124],"designers":[126],"infer":[128],"useful":[129],"information":[130],"about":[131],"influence":[133],"on":[138],"performance":[141],"system.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
