{"id":"https://openalex.org/W4285119184","doi":"https://doi.org/10.1109/lra.2022.3150829","title":"Feedback Regulation of Elastically Decoupled Underactuated Soft Robots","display_name":"Feedback Regulation of Elastically Decoupled Underactuated Soft Robots","publication_year":2022,"publication_date":"2022-02-14","ids":{"openalex":"https://openalex.org/W4285119184","doi":"https://doi.org/10.1109/lra.2022.3150829"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3150829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150829","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/11573/1614925","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091556087","display_name":"Pietro Pustina","orcid":"https://orcid.org/0000-0003-0368-5626"},"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":true,"raw_author_name":"Pietro Pustina","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["DE","NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Cologne, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Cologne, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049914116","display_name":"Alessandro De Luca","orcid":"https://orcid.org/0000-0002-0713-5608"},"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":"Alessandro De Luca","raw_affiliation_strings":["Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091556087"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":1.3035,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.77398596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"4512","last_page":"4519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9855999946594238,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.967199981212616,"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/underactuation","display_name":"Underactuation","score":0.9305453300476074},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7485313415527344},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7296328544616699},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.620358407497406},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5957201719284058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5423740744590759},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47853121161460876},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.43297722935676575},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39977478981018066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22294870018959045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20195290446281433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2010146677494049},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14662903547286987}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9305453300476074},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7485313415527344},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7296328544616699},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.620358407497406},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5957201719284058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5423740744590759},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47853121161460876},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.43297722935676575},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39977478981018066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22294870018959045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20195290446281433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2010146677494049},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14662903547286987},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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.2022.3150829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150829","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:elib.dlr.de:192576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2022.3150829>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:iris.uniroma1.it:11573/1614925","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/1614925","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:tudelft.nl:uuid:bb96ec47-0c27-4e6f-8660-009d18748d89","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:bb96ec47-0c27-4e6f-8660-009d18748d89","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/1614925","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/1614925","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6100000143051147,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W189803804","https://openalex.org/W1515749184","https://openalex.org/W1527296550","https://openalex.org/W1970557511","https://openalex.org/W2006104867","https://openalex.org/W2135485145","https://openalex.org/W2139267874","https://openalex.org/W2181712871","https://openalex.org/W2521333807","https://openalex.org/W2525973954","https://openalex.org/W2615167078","https://openalex.org/W2750248357","https://openalex.org/W2792607838","https://openalex.org/W2896978180","https://openalex.org/W2897782084","https://openalex.org/W2902699554","https://openalex.org/W2990316883","https://openalex.org/W2993799976","https://openalex.org/W2994975902","https://openalex.org/W2999072533","https://openalex.org/W3000160985","https://openalex.org/W3012525641","https://openalex.org/W3047513975","https://openalex.org/W3118994804","https://openalex.org/W3204719635","https://openalex.org/W4235124577","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"The":[0,113],"intrinsically":[1],"underactuated":[2,132],"and":[3,83,131,143],"nonlinear":[4,130],"nature":[5],"of":[6,13,23,38,56,69,81,110,115,141],"continuum":[7],"soft":[8,59,70,145],"robots":[9,60,71],"makes":[10],"the":[11,24,29,39,54,79,89,97,116,129],"derivation":[12],"provably":[14],"stable":[15],"feedback":[16],"control":[17],"laws":[18],"a":[19,51],"challenging":[20],"task.":[21],"Most":[22],"works":[25],"so":[26],"far":[27],"circumvented":[28],"issue":[30],"either":[31],"by":[32,42,123],"looking":[33],"at":[34],"coarse":[35],"fully-actuated":[36],"approximations":[37],"dynamics":[40,80],"or":[41],"imposing":[43],"quasi-static":[44],"assumptions.":[45],"In":[46],"this":[47],"letter,":[48],"we":[49,94],"move":[50],"step":[52],"in":[53],"direction":[55],"controlling":[57],"generic":[58],"taking":[61,126],"explicitly":[62],"into":[63,127],"account":[64,128],"their":[65],"underactuation.":[66],"A":[67],"class":[68],"that":[72,96,106],"have":[73],"no":[74],"direct":[75],"elastic":[76],"couplings":[77],"between":[78],"actuated":[82,90],"unactuated":[84],"coordinates":[85],"is":[86,99,120],"identified.":[87],"Considering":[88],"variables":[91],"as":[92],"output,":[93],"prove":[95],"system":[98],"minimum":[100],"phase.":[101],"We":[102],"then":[103],"propose":[104],"regulators":[105],"implement":[107],"different":[108],"levels":[109],"model":[111],"compensation.":[112],"stability":[114],"associated":[117],"closed-loop":[118],"systems":[119],"formally":[121],"proven":[122],"Lyapunov/LaSalle":[124],"techniques,":[125],"dynamics.":[133],"Simulation":[134],"results":[135],"are":[136],"reported":[137],"for":[138],"two":[139],"models":[140],"2D":[142],"3D":[144],"robots.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}
