{"id":"https://openalex.org/W4401070107","doi":"https://doi.org/10.1109/lra.2024.3434929","title":"Mechanical Design and Data-Enabled Predictive Control of a Planar Soft Robot","display_name":"Mechanical Design and Data-Enabled Predictive Control of a Planar Soft Robot","publication_year":2024,"publication_date":"2024-07-29","ids":{"openalex":"https://openalex.org/W4401070107","doi":"https://doi.org/10.1109/lra.2024.3434929"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3434929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3434929","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":null,"display_name":"Huanqing Wang","orcid":"https://orcid.org/0009-0000-0554-8698"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Huanqing Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0009-0000-0554-8698","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101643165","display_name":"Kaixiang Zhang","orcid":"https://orcid.org/0000-0002-4361-0955"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaixiang Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4361-0955","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109754351","display_name":"Kyungjoon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyungjoon Lee","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Riverside, Riverside, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050432951","display_name":"Yu Mei","orcid":"https://orcid.org/0009-0009-2424-2219"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Mei","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0009-0009-2424-2219","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102507939","display_name":"Keyi Zhu","orcid":"https://orcid.org/0000-0002-1002-1863"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keyi Zhu","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-1002-1863","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085821818","display_name":"Vaibhav Srivastava","orcid":"https://orcid.org/0000-0002-9786-0159"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vaibhav Srivastava","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9786-0159","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030737748","display_name":"Jun Sheng","orcid":"https://orcid.org/0000-0001-8786-2137"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Sheng","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Riverside, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8786-2137","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037274043","display_name":"Zhaojian Li","orcid":"https://orcid.org/0000-0002-0189-8719"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaojian Li","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-0189-8719","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87216513"],"apc_list":null,"apc_paid":null,"fwci":1.4139,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79738008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"9","first_page":"7923","last_page":"7930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9962000250816345,"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":0.9951000213623047,"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/planar","display_name":"Planar","score":0.6309425830841064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5912911891937256},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4751553237438202},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4476006031036377},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4448883533477783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2652709484100342},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.13736069202423096}],"concepts":[{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6309425830841064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5912911891937256},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4751553237438202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4476006031036377},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4448883533477783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2652709484100342},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.13736069202423096}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3434929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3434929","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6499999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1952425972","https://openalex.org/W1999914576","https://openalex.org/W2063797945","https://openalex.org/W2097770951","https://openalex.org/W2101667962","https://openalex.org/W2870735678","https://openalex.org/W2947094677","https://openalex.org/W2952672134","https://openalex.org/W2967875632","https://openalex.org/W2968169371","https://openalex.org/W2973763250","https://openalex.org/W2979207987","https://openalex.org/W3000160985","https://openalex.org/W3046539130","https://openalex.org/W3110084462","https://openalex.org/W3119438804","https://openalex.org/W3175723522","https://openalex.org/W3199213028","https://openalex.org/W3213835390","https://openalex.org/W4214644029","https://openalex.org/W4285149089","https://openalex.org/W4312556620","https://openalex.org/W4313639260","https://openalex.org/W4319878862","https://openalex.org/W4382936100","https://openalex.org/W4383113421","https://openalex.org/W4387448461","https://openalex.org/W4388878626","https://openalex.org/W4392810554","https://openalex.org/W4396853553"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W2556120871"],"abstract_inverted_index":{"Soft":[0],"robots":[1,26],"offer":[2],"a":[3,15,47,55,94],"unique":[4],"combination":[5],"of":[6,18,24,46,126,131],"flexibility,":[7],"adaptability,":[8],"and":[9,33,43,80],"safety,":[10],"making":[11],"them":[12],"well-suited":[13],"for":[14,86],"diverse":[16],"range":[17],"applications.":[19],"However,":[20],"the":[21,40,84,101,124,129,132],"inherent":[22],"complexity":[23],"soft":[25,49,134],"poses":[27],"great":[28],"challenges":[29],"in":[30,105,115,128],"their":[31],"modeling":[32],"control.":[34],"In":[35,92],"this":[36],"letter,":[37],"we":[38,53],"present":[39],"mechanical":[41],"design":[42],"data-driven":[44],"control":[45,116,130],"pneumatic-driven":[48],"planar":[50],"robot.":[51,135],"Specifically,":[52],"employ":[54],"<bold":[56,63,66],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[57,59,61,64,67],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">d</b>ata-<bold":[58],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">e</b>nabl<bold":[60],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">e</b>d":[62],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">p</b>redictive":[65],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">c</b>ontrol":[68],"(DeePC)":[69],"strategy":[70],"that":[71],"directly":[72],"utilizes":[73],"system":[74,88],"input/output":[75],"data":[76],"to":[77,112,122],"achieve":[78],"safe":[79],"optimal":[81],"control,":[82],"eliminating":[83],"need":[85],"tedious":[87],"identification":[89],"or":[90],"modeling.":[91],"addition,":[93],"dimension":[95],"reduction":[96],"technique":[97],"is":[98],"introduced":[99],"into":[100],"DeePC":[102,127],"framework,":[103],"resulting":[104],"significantly":[106],"enhanced":[107],"computational":[108],"efficiency":[109],"with":[110],"minimal":[111],"no":[113],"degradation":[114],"performance.":[117],"Comparative":[118],"experiments":[119],"are":[120],"conducted":[121],"validate":[123],"efficacy":[125],"fabricated":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
