{"id":"https://openalex.org/W4226492465","doi":"https://doi.org/10.1109/lra.2022.3159856","title":"FEM-Based Nonlinear Controller for a Soft Trunk Robot","display_name":"FEM-Based Nonlinear Controller for a Soft Trunk Robot","publication_year":2022,"publication_date":"2022-03-16","ids":{"openalex":"https://openalex.org/W4226492465","doi":"https://doi.org/10.1109/lra.2022.3159856"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3159856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3159856","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":"https://inria.hal.science/hal-03912831","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015894904","display_name":"Ke Wu","orcid":"https://orcid.org/0000-0002-1141-6461"},"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/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ke Wu","raw_affiliation_strings":["Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, University of Lille, Lille, France","Deformable Robots Simulation Team"],"raw_orcid":"https://orcid.org/0000-0002-1141-6461","affiliations":[{"raw_affiliation_string":"Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, University of Lille, Lille, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Deformable Robots Simulation Team","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038119641","display_name":"Gang Zheng","orcid":"https://orcid.org/0000-0002-5671-7700"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]},{"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/I4387153239","display_name":"Centre de Recherche en Informatique, Signal et Automatique de Lille","ror":"https://ror.org/05vrs3189","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I4387153239","https://openalex.org/I7454413"]}],"countries":["CN","FR"],"is_corresponding":false,"raw_author_name":"Gang Zheng","raw_affiliation_strings":["School of Mathematics and Big Data, Foshan University, Foshan, China","Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189","Deformable Robots Simulation Team"],"raw_orcid":"https://orcid.org/0000-0002-5671-7700","affiliations":[{"raw_affiliation_string":"School of Mathematics and Big Data, Foshan University, Foshan, China","institution_ids":["https://openalex.org/I14894300"]},{"raw_affiliation_string":"Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I4387153239"]},{"raw_affiliation_string":"Deformable Robots Simulation Team","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6538,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.62417056,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"5735","last_page":"5740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9853000044822693,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7763132452964783},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.633575439453125},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6215251684188843},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6116635799407959},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6002240180969238},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5744786858558655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5589442253112793},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5333758592605591},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.485110878944397},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4848836362361908},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45929282903671265},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4519481658935547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35105857253074646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33173322677612305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32951033115386963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2083643078804016},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08127757906913757},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06571793556213379}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7763132452964783},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.633575439453125},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6215251684188843},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6116635799407959},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6002240180969238},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5744786858558655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5589442253112793},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5333758592605591},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.485110878944397},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4848836362361908},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45929282903671265},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4519481658935547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35105857253074646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33173322677612305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32951033115386963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2083643078804016},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08127757906913757},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06571793556213379},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3159856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3159856","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-03912831v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03912831","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2022, 7 (2), pp.5735-5740. ⟨10.1109/LRA.2022.3159856⟩","raw_type":"Journal articles"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/80006","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/80006","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:HAL:hal-03912831v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03912831","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2022, 7 (2), pp.5735-5740. ⟨10.1109/LRA.2022.3159856⟩","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1515749184","https://openalex.org/W1579240551","https://openalex.org/W1925606516","https://openalex.org/W1936407254","https://openalex.org/W1988003703","https://openalex.org/W1997060717","https://openalex.org/W1997543377","https://openalex.org/W2063507564","https://openalex.org/W2063797945","https://openalex.org/W2079574144","https://openalex.org/W2096645690","https://openalex.org/W2097770951","https://openalex.org/W2111392303","https://openalex.org/W2135485145","https://openalex.org/W2413886764","https://openalex.org/W2576246534","https://openalex.org/W2782435507","https://openalex.org/W2870735678","https://openalex.org/W2968328831","https://openalex.org/W3008298281","https://openalex.org/W3036765647","https://openalex.org/W3127873569","https://openalex.org/W4206136349","https://openalex.org/W4206279644","https://openalex.org/W4234350010","https://openalex.org/W4246923680","https://openalex.org/W4251181231","https://openalex.org/W4299418372"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Soft":[0],"robots":[1,50],"have":[2,36],"been":[3],"attracting":[4],"much":[5],"research":[6],"attention":[7],"in":[8],"the":[9,62,94,104,145,149,154,174,180,183],"past":[10],"decades":[11],"owing":[12],"to":[13,58,77,91,133,178],"their":[14,67,78,84],"unique":[15],"properties":[16],"that":[17],"are":[18,165,190],"inherently":[19],"different":[20],"from":[21,103,148],"conventional":[22,63],"rigid":[23,64],"robots.":[24],"The":[25,138,157,186],"intrinsic":[26],"characteristics":[27],"of":[28,96,106,153,159,182],"soft":[29,49,130,175],"robots,":[30],"such":[31],"as":[32],"compliance":[33],"and":[34,55,108],"flexibility,":[35],"made":[37,83],"them":[38],"a":[39,123,129],"promising":[40],"supplement":[41],"for":[42,128],"many":[43],"existing":[44],"robotic":[45],"applications.":[46],"For":[47],"instance,":[48],"provide":[51],"safer":[52],"human-machine":[53],"interaction":[54],"better":[56],"adaptability":[57],"unexplored":[59],"environments":[60],"than":[61],"ones.":[65],"However,":[66],"“soft”":[68],"feature":[69],"would":[70,100],"conversely":[71],"cause":[72],"complex":[73],"material":[74],"deformation":[75],"due":[76],"high-DoF":[79],"nature,":[80],"which":[81],"has":[82],"kinematic":[85],"or":[86],"dynamic":[87,150],"models":[88],"more":[89],"difficult":[90],"deduce.":[92],"Logically,":[93],"process":[95],"designing":[97],"model-based":[98],"controllers":[99],"therefore":[101],"suffer":[102],"lack":[105],"efficient":[107],"accurate":[109],"modeling":[110],"methods.":[111],"In":[112],"this":[113,161],"letter,":[114],"through":[115],"adopting":[116],"Finite":[117],"Element":[118],"Method":[119],"(FEM),":[120],"we":[121],"demonstrate":[122],"FEM-based":[124],"nonlinear":[125,162],"control":[126,163,184],"method":[127,164],"trunk":[131],"robot":[132,177],"achieve":[134],"trajectory":[135],"tracking":[136],"objectives.":[137],"proposed":[139],"controller":[140],"is":[141],"developed":[142],"by":[143,169],"utilizing":[144],"essential":[146],"information":[147],"FE":[151],"model":[152],"studied":[155],"robot.":[156],"details":[158],"deriving":[160],"demonstrated,":[166],"then":[167],"followed":[168],"4":[170],"practical":[171],"experiments":[172],"on":[173],"truck":[176],"verify":[179],"feasibility":[181],"method.":[185],"corresponding":[187],"experimental":[188],"results":[189],"presented":[191],"accordingly.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}