{"id":"https://openalex.org/W2511924737","doi":"https://doi.org/10.1109/mra.2016.2580591","title":"A New Soft Robot Control Method: Using Model Predictive Control for a Pneumatically Actuated Humanoid","display_name":"A New Soft Robot Control Method: Using Model Predictive Control for a Pneumatically Actuated Humanoid","publication_year":2016,"publication_date":"2016-08-24","ids":{"openalex":"https://openalex.org/W2511924737","doi":"https://doi.org/10.1109/mra.2016.2580591","mag":"2511924737"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2016.2580591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2016.2580591","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","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/A5073748096","display_name":"Charles M. Best","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles M. Best","raw_affiliation_strings":["Mechanical Engineering Department, Brigham Young University, Provo, Utah"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Brigham Young University, Provo, Utah","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043166084","display_name":"Morgan T. Gillespie","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Morgan T. Gillespie","raw_affiliation_strings":["Mechanical Engineering Department, Brigham Young University, Provo, Utah"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Brigham Young University, Provo, Utah","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035078079","display_name":"Phillip Hyatt","orcid":"https://orcid.org/0000-0002-2705-2631"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phillip Hyatt","raw_affiliation_strings":["Mechanical Engineering Department, Brigham Young University, Provo, Utah"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Brigham Young University, Provo, Utah","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015332329","display_name":"Levi Rupert","orcid":"https://orcid.org/0000-0003-3536-9425"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Levi Rupert","raw_affiliation_strings":["Mechanical Engineering Department, Brigham Young University, Provo, Utah"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Brigham Young University, Provo, Utah","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034132742","display_name":"Vallan Sherrod","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vallan Sherrod","raw_affiliation_strings":["Mechanical Engineering Department, Brigham Young University, Provo, Utah"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Brigham Young University, Provo, Utah","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079459715","display_name":"Marc D. Killpack","orcid":"https://orcid.org/0000-0001-9372-104X"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marc D. Killpack","raw_affiliation_strings":["Mechanical Engineering Department, Brigham Young University, Provo, Utah"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Brigham Young University, Provo, Utah","institution_ids":["https://openalex.org/I100005738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I100005738"],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":5.7546,"has_fulltext":false,"cited_by_count":121,"citation_normalized_percentile":{"value":0.96723852,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"23","issue":"3","first_page":"75","last_page":"84"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9980000257492065,"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":0.9979000091552734,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7795125246047974},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7778067588806152},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7478481531143188},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7078813910484314},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6953204870223999},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6188292503356934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5395886301994324},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5392085909843445},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4860821068286896},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4149738550186157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.408211350440979},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3703763782978058},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3211495280265808},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32099318504333496},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26505035161972046},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07191377878189087}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7795125246047974},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7778067588806152},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7478481531143188},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7078813910484314},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6953204870223999},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6188292503356934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5395886301994324},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5392085909843445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4860821068286896},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4149738550186157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.408211350440979},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3703763782978058},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3211495280265808},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32099318504333496},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26505035161972046},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07191377878189087},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mra.2016.2580591","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2016.2580591","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:scholarsarchive.byu.edu:facpub-4169","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7551190","pdf_url":null,"source":{"id":"https://openalex.org/S4377196308","display_name":"ScholarsArchive  (Brigham Young University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I100005738","host_organization_name":"Brigham Young University","host_organization_lineage":["https://openalex.org/I100005738"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1505754525","https://openalex.org/W1515749184","https://openalex.org/W1584054286","https://openalex.org/W1598427435","https://openalex.org/W1945252290","https://openalex.org/W1971071052","https://openalex.org/W1987862454","https://openalex.org/W2037867075","https://openalex.org/W2066967576","https://openalex.org/W2071595672","https://openalex.org/W2073142361","https://openalex.org/W2112058482","https://openalex.org/W2117402460","https://openalex.org/W2122254900","https://openalex.org/W2169209873","https://openalex.org/W2207061578","https://openalex.org/W2215086970","https://openalex.org/W2294316001","https://openalex.org/W2294898062","https://openalex.org/W2337157527","https://openalex.org/W2410712669","https://openalex.org/W2522564208","https://openalex.org/W4233227660","https://openalex.org/W6635886260","https://openalex.org/W6685331716"],"related_works":["https://openalex.org/W2911666782","https://openalex.org/W4211124276","https://openalex.org/W4312473168","https://openalex.org/W4312269480","https://openalex.org/W2543019745","https://openalex.org/W2152492056","https://openalex.org/W4247750500","https://openalex.org/W2531662632","https://openalex.org/W2356070666","https://openalex.org/W2540452882"],"abstract_inverted_index":{"Traditional":[0],"rigid":[1,52,55,91],"robots,":[2],"such":[3],"as":[4],"those":[5],"used":[6],"in":[7,17,38,48],"manufacturing,":[8],"have":[9,68],"been":[10],"effective":[11,81],"at":[12],"precise,":[13],"accurate,":[14],"rapid":[15],"motions":[16],"well-structured":[18],"environments":[19],"for":[20,57,90],"many":[21,73],"decades":[22],"now.":[23],"However,":[24],"they":[25],"operate":[26],"largely":[27],"behind":[28],"cages":[29],"due":[30],"to":[31,41],"the":[32,75,79,85],"danger":[33],"of":[34,74],"injury":[35],"when":[36],"moving":[37],"close":[39],"proximity":[40],"people.":[42],"A":[43],"significant":[44],"and":[45,54,61,71],"recent":[46],"shift":[47],"robotics":[49],"involves":[50],"trading":[51],"links":[53,60],"actuators":[56],"soft,":[58],"deformable":[59],"compliant":[62],"actuators.":[63],"These":[64],"soft":[65],"robots":[66],"generally":[67],"lower":[69],"inertia":[70,82],"avoid":[72],"problems":[76],"caused":[77],"by":[78],"high":[80,86],"resulting":[83],"from":[84],"gear":[87],"ratios":[88],"necessary":[89],"robots.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":8}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}