{"id":"https://openalex.org/W7162996768","doi":"https://doi.org/10.1109/lra.2026.3699101","title":"Tension-Based Dynamic Control for Rope-Driven Robots Under Edge Collisions","display_name":"Tension-Based Dynamic Control for Rope-Driven Robots Under Edge Collisions","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7162996768","doi":"https://doi.org/10.1109/lra.2026.3699101"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3699101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3699101","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"https://openalex.org/A5137514782","display_name":"Myeongjin Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myeongjin Choi","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4564-5737","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000198347","display_name":"Sahoon Ahn","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sahoon Ahn","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085762363","display_name":"D.Y. Park","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Doyoung Park","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038452773","display_name":"Hwa Soo Kim","orcid":"https://orcid.org/0000-0001-7116-7367"},"institutions":[{"id":"https://openalex.org/I28615091","display_name":"Kyonggi University","ror":"https://ror.org/032xf8h46","country_code":"KR","type":"education","lineage":["https://openalex.org/I28615091"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hwa Soo Kim","raw_affiliation_strings":["Department of Mechanical System Engineering, Kyonggi University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-7116-7367","affiliations":[{"raw_affiliation_string":"Department of Mechanical System Engineering, Kyonggi University, Suwon, South Korea","institution_ids":["https://openalex.org/I28615091"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137512084","display_name":"TaeWon Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9447-7675","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.62791799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"8640","last_page":"8647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.5325999855995178,"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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.5325999855995178,"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/T10868","display_name":"Soft Robotics and Applications","score":0.11309999972581863,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.05469999834895134,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5321000218391418},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48069998621940613},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.39989998936653137},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.364300012588501},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36410000920295715}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5321000218391418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5307999849319458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48069998621940613},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39989998936653137},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.364300012588501},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34470000863075256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31310001015663147},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3699101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3699101","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[{"id":"https://openalex.org/G7674802015","display_name":null,"funder_award_id":"RS-2024-00443400","funder_id":"https://openalex.org/F4320334879","funder_display_name":"Korea Evaluation Institute of Industrial Technology"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,53,61,69],"tension-based":[4],"dynamic":[5],"control":[6,23,55,101],"framework":[7],"with":[8,64,102,166],"torque-level":[9],"tension":[10,47,77,81,129],"tracking":[11,153],"for":[12],"rope-driven":[14],"ascending":[15],"robot":[16,31],"(RDAR),":[17],"which":[18],"differs":[19],"from":[20,107],"the":[21,88,96,124,147,151,158],"position-based":[22,164],"schemes":[24],"used":[25],"in":[26,33,95],"previous":[27],"RDAR":[28],"studies.":[29],"The":[30,73],"operates":[32],"unstructured":[34],"environments":[35],"where":[36],"rope\u2013edge":[37,117],"collisions":[38],"introduce":[39],"significant":[40],"disturbances":[41],"such":[42],"as":[43],"anisotropic":[44],"friction":[45,121],"and":[46,68,122,135,143],"loss.":[48],"To":[49],"address":[50],"these":[51,93],"effects,":[52],"hierarchical":[54],"architecture":[56],"is":[57],"developed":[58],"that":[59,146],"integrates":[60],"sliding-mode":[62],"controller":[63,75,90,149],"adaptive":[65],"gain":[66],"(SMC-AG)":[67],"disturbance":[70,125],"observer":[71],"(DOB).":[72],"high-level":[74],"generates":[76],"references":[78],"using":[79],"real-time":[80],"feedback":[82],"to":[83,162],"reject":[84],"collision-induced":[85,120],"disturbances,":[86],"while":[87],"low-level":[89],"directly":[91],"tracks":[92],"tensions":[94],"motor-torque":[97],"domain":[98],"via":[99],"PID":[100,165],"model-based":[103],"feedforward":[104,167],"compensation":[105],"derived":[106],"ascender":[108],"dynamics.":[109],"Lyapunov-based":[110],"analysis":[111],"guarantees":[112],"closed-loop":[113],"stability.":[114],"A":[115],"compact":[116],"experiment":[118],"characterizes":[119],"supports":[123],"modeling":[126],"assumptions.":[127],"Real-time":[128],"regulation":[130],"further":[131],"mitigates":[132],"rope":[133],"hysteresis":[134],"improves":[136],"responsiveness.":[137],"Experimental":[138],"results":[139],"across":[140],"various":[141],"trajectories":[142],"speeds":[144],"show":[145],"proposed":[148],"reduces":[150],"RMS":[152],"error":[154,160],"by":[155],"up":[156],"to$80\\%$and":[157],"peak":[159],"by$20\\%$compared":[161],"conventional":[163],"compensation,":[168],"demonstrating":[169],"strong":[170],"robustness":[171],"against":[172],"edge":[173],"interactions.":[174]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-06-02T00:00:00"}