{"id":"https://openalex.org/W3003028532","doi":"https://doi.org/10.1109/robio49542.2019.8961405","title":"A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors","display_name":"A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3003028532","doi":"https://doi.org/10.1109/robio49542.2019.8961405","mag":"3003028532"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5031530982","display_name":"Baibo Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baibo Wu","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089329497","display_name":"Lingyun Zeng","orcid":"https://orcid.org/0000-0001-7120-9002"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyun Zeng","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022278290","display_name":"Zheng Yang","orcid":"https://orcid.org/0000-0003-2552-2924"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zheng","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101960193","display_name":"Zhang Shuan","orcid":"https://orcid.org/0000-0003-0618-5168"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shu'an Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University,RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute,Shanghai,China","RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078125284","display_name":"Xiangyang Zhu","orcid":"https://orcid.org/0000-0003-4914-6636"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Zhu","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031386469","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0003-1690-3370"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xu","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2991,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.57588527,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2433","last_page":"2438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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":0.9988999962806702,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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/closed-loop","display_name":"Closed loop","score":0.6390942335128784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6246764063835144},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5794498920440674},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5260850191116333},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5185349583625793},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4838908612728119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4786440134048462},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3436529040336609},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2865637242794037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23260381817817688},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17727404832839966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14919912815093994},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13119617104530334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10455390810966492}],"concepts":[{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.6390942335128784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6246764063835144},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5794498920440674},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5260850191116333},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5185349583625793},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4838908612728119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4786440134048462},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3436529040336609},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2865637242794037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23260381817817688},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17727404832839966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14919912815093994},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13119617104530334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10455390810966492},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1842043605","https://openalex.org/W1938785289","https://openalex.org/W2049833393","https://openalex.org/W2064043586","https://openalex.org/W2064267416","https://openalex.org/W2100058787","https://openalex.org/W2115839752","https://openalex.org/W2123546047","https://openalex.org/W2124540383","https://openalex.org/W2150066987","https://openalex.org/W2157848027","https://openalex.org/W2286339719","https://openalex.org/W2404539446","https://openalex.org/W2488329990","https://openalex.org/W2527057332","https://openalex.org/W2593991624","https://openalex.org/W2653772392","https://openalex.org/W2765594015","https://openalex.org/W2806185962","https://openalex.org/W2912795814","https://openalex.org/W6677496214"],"related_works":["https://openalex.org/W24774503","https://openalex.org/W2014821076","https://openalex.org/W1990620319","https://openalex.org/W1965744717","https://openalex.org/W2111234595","https://openalex.org/W2322335058","https://openalex.org/W2259382430","https://openalex.org/W2397460850","https://openalex.org/W4322484979","https://openalex.org/W2612895087"],"abstract_inverted_index":{"A":[0],"cable-driven":[1],"hyper-redundant":[2],"manipulator":[3],"is":[4,20,86,117,127],"especially":[5],"suited":[6],"for":[7,79,97],"manipulations":[8],"in":[9,55],"confined":[10],"spaces.":[11],"In":[12,122],"most":[13],"of":[14,44,62,93,160],"the":[15,25,29,33,39,60,77,90,111,114,125,132,136,143,158],"existing":[16],"approaches,":[17],"a":[18,53,64,83,94,148],"controller":[19,85,126],"often":[21,51],"designed":[22,128],"to":[23,48,88,129,156],"actuate":[24],"joints":[26,78,153],"by":[27,119],"pulling":[28],"corresponding":[30],"cables":[31,46,92],"without":[32,139],"feedback":[34],"from":[35],"remote":[36],"sensors":[37],"at":[38],"joints.":[40],"The":[41],"un-modeled":[42],"elongations":[43],"these":[45],"due":[47],"unknown":[49],"tensions":[50],"cause":[52],"decrease":[54],"control":[56,89,104],"precision.":[57],"To":[58],"improve":[59],"performance":[61],"such":[63],"manipulator,":[65],"this":[66,123,161],"paper":[67],"presents":[68],"an":[69],"investigation":[70],"where":[71],"miniature":[72],"potentiometers":[73],"are":[74],"integrated":[75],"into":[76],"angle":[80,103],"feedback.":[81],"Furthermore,":[82],"puller-follower":[84],"developed":[87],"three":[91],"universal":[95],"joint":[96,102,150],"not":[98],"only":[99],"closed-":[100],"loop":[101],"but":[105],"also":[106],"cable":[107,115,137],"tension":[108,116],"preservation.":[109],"Applying":[110],"Hooke\u2019s":[112],"Law,":[113],"represented":[118],"its":[120],"deformation.":[121],"way,":[124],"realize":[130],"both":[131],"desired":[133],"angles":[134],"and":[135,151],"deformations,":[138],"force":[140],"sensing":[141],"on":[142,147],"cables.":[144],"Finally,":[145],"experiments":[146],"single":[149],"multiple":[152],"were":[154],"conducted":[155],"verify":[157],"effectiveness":[159],"proposed":[162],"controller.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}