{"id":"https://openalex.org/W2921870155","doi":"https://doi.org/10.1109/robio.2018.8665233","title":"A Model-free Adaptive Controller for Biomimetic Pneumatically Actuated Continuum Manipulators","display_name":"A Model-free Adaptive Controller for Biomimetic Pneumatically Actuated Continuum Manipulators","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2921870155","doi":"https://doi.org/10.1109/robio.2018.8665233","mag":"2921870155"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665233","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5004137944","display_name":"Fei Meng","orcid":"https://orcid.org/0000-0001-9225-040X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fei Meng","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112258029","display_name":"Yueyong Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueyong Lv","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100627302","display_name":"Guangfu Ma","orcid":"https://orcid.org/0000-0002-4654-9045"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangfu Ma","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101631162","display_name":"Yunfei Zhu","orcid":"https://orcid.org/0000-0002-3115-0680"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfei Zhu","raw_affiliation_strings":["Science and Technology on Reliability and Environment Engineering Laboratory, Beijing Institute of Spacecraft Environment Engineering, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Reliability and Environment Engineering Laboratory, Beijing Institute of Spacecraft Environment Engineering, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I194716290"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5004137944"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.109,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47879842,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"33","issue":null,"first_page":"1706","last_page":"1711"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9811000227928162,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9764000177383423,"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/control-theory","display_name":"Control theory (sociology)","score":0.8100079298019409},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6609923839569092},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6594364047050476},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5839176177978516},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5493611097335815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5470075607299805},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5393244028091431},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5363093614578247},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4823988676071167},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44515591859817505},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.42609095573425293},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32022523880004883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14487111568450928},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12027060985565186},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08112844824790955}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8100079298019409},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6609923839569092},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6594364047050476},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5839176177978516},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5493611097335815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470075607299805},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5393244028091431},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5363093614578247},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4823988676071167},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44515591859817505},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.42609095573425293},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32022523880004883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14487111568450928},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12027060985565186},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08112844824790955},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8665233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665233","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W648786980","https://openalex.org/W1515749184","https://openalex.org/W1584054286","https://openalex.org/W1891615552","https://openalex.org/W1925606516","https://openalex.org/W1972722556","https://openalex.org/W1997060717","https://openalex.org/W2065682774","https://openalex.org/W2065876534","https://openalex.org/W2067938871","https://openalex.org/W2068202815","https://openalex.org/W2070122598","https://openalex.org/W2073677587","https://openalex.org/W2101433417","https://openalex.org/W2135974772","https://openalex.org/W2241606133","https://openalex.org/W2268617045","https://openalex.org/W2375585799","https://openalex.org/W2413886764","https://openalex.org/W2560730116","https://openalex.org/W2782435507","https://openalex.org/W6621543089","https://openalex.org/W6639760230","https://openalex.org/W6640197097","https://openalex.org/W6667284285","https://openalex.org/W6668002697","https://openalex.org/W6690315588","https://openalex.org/W6693958471"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2317650444","https://openalex.org/W2913529325"],"abstract_inverted_index":{"In":[0,100],"this":[1],"paper,":[2],"a":[3,21,33,97],"model-free":[4,51],"adaptive":[5,52],"control":[6],"(MFAC)":[7],"algorithm":[8],"of":[9,27,75,112],"pneumatic":[10],"muscle":[11],"actuators":[12],"(PMAs)":[13],"actuated":[14],"multisection":[15],"continuum":[16],"arms":[17],"is":[18,30,84,90,104],"developed":[19],"for":[20,92],"better":[22],"dynamic":[23,40,65],"performance.":[24],"The":[25,78],"idea":[26],"the":[28,44,50,64,70,101,108,113],"method":[29],"to":[31,106],"replace":[32],"general":[34],"nonlinear":[35],"system":[36],"by":[37],"an":[38],"equivalent":[39],"linearization":[41,66],"model":[42],"at":[43],"current":[45],"operating":[46],"points.":[47],"To":[48,59],"accomplish":[49],"control,":[53],"we":[54,68],"introduce":[55],"pseudo":[56],"partial":[57],"derivative.":[58],"estimate":[60],"it":[61],"online":[62],"in":[63,96],"model,":[67],"use":[69],"input":[71],"and":[72,110],"output":[73],"data":[74,95],"controlled":[76],"objects.":[77],"spatial":[79],"dynamics":[80],"with":[81],"numerical":[82],"stability":[83],"based":[85],"on":[86],"modal":[87],"kinematics,":[88],"which":[89],"employed":[91],"getting":[93],"I/O":[94],"simulation":[98],"environment.":[99],"end,":[102],"MATLAB/SIMULINK":[103],"used":[105],"verify":[107],"feasibility":[109],"effectiveness":[111],"MFAC":[114],"strategy.":[115]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}