{"id":"https://openalex.org/W2896978180","doi":"https://doi.org/10.1109/lra.2018.2876734","title":"Control Design for Soft Robots based on Reduced Order Model","display_name":"Control Design for Soft Robots based on Reduced Order Model","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2896978180","doi":"https://doi.org/10.1109/lra.2018.2876734","mag":"2896978180"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2876734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2876734","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.12210/22995","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025897738","display_name":"Maxime Thieffry","orcid":"https://orcid.org/0000-0002-6192-8561"},"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/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210089617","display_name":"Laboratoire d'Automatique, de M\u00e9canique et d'Informatique Industrielles et Humaines","ror":"https://ror.org/006z7v557","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210089617","https://openalex.org/I4210159245","https://openalex.org/I4387154098","https://openalex.org/I70348806","https://openalex.org/I70348806"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4210156171","display_name":"Centre Hospitalier de Valenciennes","ror":"https://ror.org/04taf2z98","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210156171"]},{"id":"https://openalex.org/I70348806","display_name":"Universit\u00e9 Polytechnique Hauts-de-France","ror":"https://ror.org/02ezch769","country_code":"FR","type":"education","lineage":["https://openalex.org/I70348806"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maxime Thieffry","raw_affiliation_strings":["University of Valenciennes, CNRS, UMR 8201, Valenciennes, France","LAMIH - Laboratoire d'Automatique, de M\u00e9canique et d'Informatique industrielles et Humaines - UMR 8201 (LE MONT HOUY 59313 VALENCIENNES CEDEX 9 - France)","CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)","DEFROST  - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Valenciennes, CNRS, UMR 8201, Valenciennes, France","institution_ids":["https://openalex.org/I4210089617","https://openalex.org/I4210156171","https://openalex.org/I1294671590","https://openalex.org/I70348806"]},{"raw_affiliation_string":"LAMIH - Laboratoire d'Automatique, de M\u00e9canique et d'Informatique industrielles et Humaines - UMR 8201 (LE MONT HOUY 59313 VALENCIENNES CEDEX 9 - France)","institution_ids":["https://openalex.org/I4210089617"]},{"raw_affiliation_string":"CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970"]},{"raw_affiliation_string":"DEFROST  - Deformable Robots Simulation Team (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012491077","display_name":"Alexandre Kruszewski","orcid":"https://orcid.org/0000-0002-6037-5862"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandre Kruszewski","raw_affiliation_strings":["Defrost Team, Inria, University of Lille, CRIStAL\u2014Centre de Recherche en Informatique Signal et Automatique de Lille\u2014UMR 9189, Villeneuve-d\u2019Ascq, France","CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)","DEFROST  - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Defrost Team, Inria, University of Lille, CRIStAL\u2014Centre de Recherche en Informatique Signal et Automatique de Lille\u2014UMR 9189, Villeneuve-d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I4210143894"]},{"raw_affiliation_string":"CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970"]},{"raw_affiliation_string":"DEFROST  - Deformable Robots Simulation Team (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Duriez","raw_affiliation_strings":["Defrost Team, Inria, University of Lille, CRIStAL\u2014Centre de Recherche en Informatique Signal et Automatique de Lille\u2014UMR 9189, Villeneuve-d\u2019Ascq, France","DEFROST  - Deformable Robots Simulation Team (France)","CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Defrost Team, Inria, University of Lille, CRIStAL\u2014Centre de Recherche en Informatique Signal et Automatique de Lille\u2014UMR 9189, Villeneuve-d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I4210143894"]},{"raw_affiliation_string":"DEFROST  - Deformable Robots Simulation Team (France)","institution_ids":[]},{"raw_affiliation_string":"CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028386277","display_name":"Thierry\u2010Marie Guerra","orcid":"https://orcid.org/0000-0001-5483-9651"},"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/I4210089617","display_name":"Laboratoire d'Automatique, de M\u00e9canique et d'Informatique Industrielles et Humaines","ror":"https://ror.org/006z7v557","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210089617","https://openalex.org/I4210159245","https://openalex.org/I4387154098","https://openalex.org/I70348806","https://openalex.org/I70348806"]},{"id":"https://openalex.org/I4210156171","display_name":"Centre Hospitalier de Valenciennes","ror":"https://ror.org/04taf2z98","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210156171"]},{"id":"https://openalex.org/I70348806","display_name":"Universit\u00e9 Polytechnique Hauts-de-France","ror":"https://ror.org/02ezch769","country_code":"FR","type":"education","lineage":["https://openalex.org/I70348806"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thierry-marie Guerra","raw_affiliation_strings":["University of Valenciennes, CNRS, UMR 8201, Valenciennes, France","LAMIH - Laboratoire d'Automatique, de M\u00e9canique et d'Informatique industrielles et Humaines - UMR 8201 (LE MONT HOUY 59313 VALENCIENNES CEDEX 9 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Valenciennes, CNRS, UMR 8201, Valenciennes, France","institution_ids":["https://openalex.org/I4210089617","https://openalex.org/I4210156171","https://openalex.org/I1294671590","https://openalex.org/I70348806"]},{"raw_affiliation_string":"LAMIH - Laboratoire d'Automatique, de M\u00e9canique et d'Informatique industrielles et Humaines - UMR 8201 (LE MONT HOUY 59313 VALENCIENNES CEDEX 9 - France)","institution_ids":["https://openalex.org/I4210089617"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3549,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.92893228,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9944000244140625,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8611294031143188},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5850726366043091},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5816872119903564},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.548199474811554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5406984090805054},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5355330109596252},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4731365740299225},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4690103232860565},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4550796449184418},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4281173646450043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3920647203922272},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31883758306503296},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3034045696258545},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29456403851509094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17107295989990234}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8611294031143188},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5850726366043091},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5816872119903564},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.548199474811554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5406984090805054},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5355330109596252},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4731365740299225},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4690103232860565},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4550796449184418},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4281173646450043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3920647203922272},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31883758306503296},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3034045696258545},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29456403851509094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17107295989990234},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2876734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2876734","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:HAL:hal-01901031v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01901031","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 Robotics and Automation Letters, 2019, 4 (1), pp.25-32. ⟨10.1109/LRA.2018.2876734⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/22995","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/22995","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/22995","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/22995","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1064787044","display_name":"COntrol and Modelling for sOft RObots in Surgery","funder_award_id":"ANR-17-ERC2-0029","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1551480811","https://openalex.org/W1614964691","https://openalex.org/W1826399803","https://openalex.org/W1985060396","https://openalex.org/W1997560983","https://openalex.org/W2027454283","https://openalex.org/W2079574144","https://openalex.org/W2095462685","https://openalex.org/W2097770951","https://openalex.org/W2100317824","https://openalex.org/W2101667962","https://openalex.org/W2151968342","https://openalex.org/W2226462370","https://openalex.org/W2344043336","https://openalex.org/W2525386719","https://openalex.org/W2612842040","https://openalex.org/W2615167078","https://openalex.org/W2619847693","https://openalex.org/W2739140755","https://openalex.org/W2741086304","https://openalex.org/W2743548951","https://openalex.org/W2745494968","https://openalex.org/W2746917119","https://openalex.org/W2750248357","https://openalex.org/W2768326939","https://openalex.org/W2772687860","https://openalex.org/W2782435507","https://openalex.org/W2788103658","https://openalex.org/W2792607838","https://openalex.org/W2795340098","https://openalex.org/W2897782084","https://openalex.org/W2971835588","https://openalex.org/W4396821643","https://openalex.org/W6748177630","https://openalex.org/W6749968436","https://openalex.org/W6755850732"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"Inspired":[0],"by":[1],"nature,":[2],"soft":[3],"robots":[4,11,47],"promise":[5],"disruptive":[6],"advances":[7],"in":[8],"robotics.":[9],"Soft":[10],"are":[12],"naturally":[13],"compliant":[14],"and":[15,60,81,92],"exhibit":[16],"nonlinear":[17],"behavior,":[18],"which":[19],"makes":[20],"their":[21,35],"study":[22,43],"challenging.":[23],"No":[24],"unified":[25],"framework":[26],"exists":[27],"to":[28,42,64,99],"control":[29],"these":[30],"robots,":[31],"especially":[32],"when":[33],"considering":[34],"dynamics.":[36],"This":[37],"letter":[38],"proposes":[39],"a":[40,49,65,72,89],"methodology":[41],"this":[44],"type":[45],"of":[46,76,88,103],"around":[48],"stable":[50],"equilibrium":[51,67],"point.":[52],"It":[53],"can":[54],"make":[55],"the":[56,77,86,101,104],"robot":[57,78,96],"converge":[58],"faster":[59],"with":[61],"reduced":[62],"oscillations":[63],"desired":[66],"state.":[68],"Using":[69],"computational":[70],"mechanics,":[71],"large-scale":[73],"dynamic":[74],"model":[75,82],"is":[79,97],"obtained":[80],"reduction":[83],"algorithms":[84],"enable":[85],"design":[87],"low-order":[90],"controller":[91],"observer.":[93],"A":[94],"real":[95],"used":[98],"demonstrate":[100],"interest":[102],"results.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}