{"id":"https://openalex.org/W3004657466","doi":"https://doi.org/10.1109/lra.2021.3095268","title":"Koopman-Based Control of a Soft Continuum Manipulator Under Variable Loading Conditions","display_name":"Koopman-Based Control of a Soft Continuum Manipulator Under Variable Loading Conditions","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3004657466","doi":"https://doi.org/10.1109/lra.2021.3095268","mag":"3004657466"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3095268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095268","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.01407","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088681567","display_name":"Daniel Bruder","orcid":"https://orcid.org/0000-0001-7683-2725"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daniel Bruder","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","\u2020University of Michigan"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079553755","display_name":"Xun Fu","orcid":"https://orcid.org/0000-0001-5000-5190"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xun Fu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","\u2020University of Michigan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020611092","display_name":"R. Brent Gillespie","orcid":"https://orcid.org/0000-0002-1051-0026"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Brent Gillespie","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","\u2020University of Michigan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004156203","display_name":"C. David Remy","orcid":"https://orcid.org/0000-0002-4072-8034"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"C. David Remy","raw_affiliation_strings":["Institute for Nonlinear Mechanics, University of Stuttgart, Stuttgart, Germany","\u2020University of Michigan"],"affiliations":[{"raw_affiliation_string":"Institute for Nonlinear Mechanics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Univ. of Stuttgart#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Univ. of Stuttgart#TAB#","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088681567"],"corresponding_institution_ids":["https://openalex.org/I136199984","https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.2547,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.47743657,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"6","issue":"4","first_page":"6852","last_page":"6859"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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":0.9979000091552734,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear 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/T11751","display_name":"Lattice Boltzmann Simulation Studies","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/control-theory","display_name":"Control theory (sociology)","score":0.7820119261741638},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5791066288948059},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5062602758407593},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.465948224067688},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4641372561454773},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43843555450439453},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4146277904510498},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30277204513549805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2709961533546448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22624191641807556},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15763351321220398},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.132961243391037}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7820119261741638},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5791066288948059},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5062602758407593},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.465948224067688},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4641372561454773},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43843555450439453},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4146277904510498},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30277204513549805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2709961533546448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22624191641807556},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15763351321220398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.132961243391037},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3095268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095268","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:arXiv.org:2002.01407","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.01407","pdf_url":"https://arxiv.org/pdf/2002.01407","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3004657466","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2002.01407.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2002.01407","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2002.01407","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.01407","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.01407","pdf_url":"https://arxiv.org/pdf/2002.01407","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309085","display_name":"Center for Selective C-H Functionalization, National Science Foundation","ror":"https://ror.org/02h8v7m77"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W588139629","https://openalex.org/W1591018827","https://openalex.org/W1592507457","https://openalex.org/W1946746497","https://openalex.org/W1966141623","https://openalex.org/W1970557511","https://openalex.org/W1997060717","https://openalex.org/W2013195385","https://openalex.org/W2015106839","https://openalex.org/W2029744358","https://openalex.org/W2049460350","https://openalex.org/W2062826911","https://openalex.org/W2070184318","https://openalex.org/W2073787051","https://openalex.org/W2096450582","https://openalex.org/W2101667962","https://openalex.org/W2135485145","https://openalex.org/W2161409436","https://openalex.org/W2171868844","https://openalex.org/W2529170537","https://openalex.org/W2556078315","https://openalex.org/W2561027863","https://openalex.org/W2735197468","https://openalex.org/W2738649802","https://openalex.org/W2751264656","https://openalex.org/W2765528586","https://openalex.org/W2782435507","https://openalex.org/W2893780659","https://openalex.org/W2901112449","https://openalex.org/W2915622878","https://openalex.org/W2925173345","https://openalex.org/W2938361870","https://openalex.org/W2950073044","https://openalex.org/W2963401716","https://openalex.org/W2963895143","https://openalex.org/W2965680175","https://openalex.org/W2967427547","https://openalex.org/W2967429195","https://openalex.org/W2968169371","https://openalex.org/W2989010177","https://openalex.org/W3099674394","https://openalex.org/W3101360817","https://openalex.org/W4210968171","https://openalex.org/W4250589301","https://openalex.org/W6784635010"],"related_works":["https://openalex.org/W2091805483","https://openalex.org/W2360053067","https://openalex.org/W2184549709","https://openalex.org/W2320773162","https://openalex.org/W2709801626","https://openalex.org/W2149557608","https://openalex.org/W2055500784","https://openalex.org/W100744648","https://openalex.org/W1994922304","https://openalex.org/W3159993769","https://openalex.org/W2906892621","https://openalex.org/W2765267284","https://openalex.org/W2142769321","https://openalex.org/W2904231187","https://openalex.org/W3110217318","https://openalex.org/W2147666564","https://openalex.org/W2326644455","https://openalex.org/W3037958946","https://openalex.org/W2240726105","https://openalex.org/W2963468788"],"abstract_inverted_index":{"Controlling":[0],"soft":[1,30,76],"continuum":[2,77],"manipulator":[3,31,78,109],"arms":[4],"is":[5,42,79,88],"difficult":[6],"due":[7],"to":[8,28,90],"their":[9,57],"infinite":[10],"degrees":[11],"of":[12,72,116,124],"freedom,":[13],"nonlinear":[14],"material":[15],"properties,":[16],"and":[17,55,94,114],"large":[18],"deflections":[19],"under":[20,37],"loading.":[21,107],"This":[22,41],"letter":[23],"presents":[24],"a":[25,48,73],"data-driven":[26],"approach":[27,126],"identifying":[29],"models":[32,100],"that":[33,101],"enables":[34],"consistent":[35],"control":[36,65,71],"variable":[38],"loading":[39],"conditions.":[40],"accomplished":[43],"by":[44],"incorporating":[45],"loads":[46],"into":[47],"linear":[49],"Koopman":[50],"operator":[51],"model":[52],"as":[53],"states":[54],"estimating":[56],"values":[58],"online":[59],"via":[60],"an":[61],"observer":[62],"within":[63],"the":[64,122],"loop.":[66],"Using":[67],"this":[68,86,125],"approach,":[69],"autonomous":[70],"pneumatically":[74],"actuated":[75],"achieved.":[80],"In":[81],"several":[82],"trajectory":[83],"following":[84],"experiments,":[85],"controller":[87],"shown":[89],"be":[91],"more":[92],"accurate":[93],"precise":[95],"than":[96],"controllers":[97],"based":[98],"on":[99],"do":[102],"not":[103],"explicitly":[104],"account":[105],"for":[106],"The":[108],"also":[110],"successfully":[111],"performs":[112],"pick":[113],"place":[115],"objects":[117],"with":[118],"unknown":[119],"mass,":[120],"demonstrating":[121],"efficacy":[123],"in":[127],"executing":[128],"real-world":[129],"manipulation":[130],"tasks.":[131]},"counts_by_year":[{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
