{"id":"https://openalex.org/W4390099745","doi":"https://doi.org/10.1109/robio58561.2023.10354668","title":"Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling","display_name":"Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099745","doi":"https://doi.org/10.1109/robio58561.2023.10354668"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354668","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354668","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5084168300","display_name":"Wu-Te Yang","orcid":"https://orcid.org/0000-0002-2370-3820"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wu-Te Yang","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,USA","Department of Mechanical Engineering, University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082928789","display_name":"Burak K\u00fcrk\u00e7\u00fc","orcid":"https://orcid.org/0000-0002-0828-4234"},"institutions":[{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["TR","US"],"is_corresponding":false,"raw_author_name":"Burak K\u00fcrk\u00e7\u00fc","raw_affiliation_strings":["Hacettepe University,Department of Computer Engineering,Turkey","University of California, Berkeley, USA","Department of Computer Engineering, Hacettepe University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hacettepe University,Department of Computer Engineering,Turkey","institution_ids":["https://openalex.org/I66514158"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Computer Engineering, Hacettepe University, Turkey","institution_ids":["https://openalex.org/I66514158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082376679","display_name":"Motohiro Hirao","orcid":"https://orcid.org/0000-0002-6509-6416"},"institutions":[{"id":"https://openalex.org/I4210157453","display_name":"NSK (Japan)","ror":"https://ror.org/05nm3qe34","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210157453"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motohiro Hirao","raw_affiliation_strings":["NSK Ltd.,Japan","NSK Ltd., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NSK Ltd.,Japan","institution_ids":["https://openalex.org/I4210157453"]},{"raw_affiliation_string":"NSK Ltd., Japan","institution_ids":["https://openalex.org/I4210157453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065597482","display_name":"Lingfeng Sun","orcid":"https://orcid.org/0000-0002-1134-4103"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lingfeng Sun","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,USA","Department of Mechanical Engineering, University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101715656","display_name":"Xinghao Zhu","orcid":"https://orcid.org/0009-0002-8078-1531"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinghao Zhu","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,USA","Department of Mechanical Engineering, University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049218191","display_name":"Zhizhou Zhang","orcid":"https://orcid.org/0000-0002-2895-2682"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhizhou Zhang","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,USA","Department of Mechanical Engineering, University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025067820","display_name":"Grace X. Gu","orcid":"https://orcid.org/0000-0001-7118-3228"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Grace X. Gu","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,USA","Department of Mechanical Engineering, University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,USA","Department of Mechanical Engineering, University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.205,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49089204,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965999722480774,"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":0.9965999722480774,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9922999739646912,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9556999802589417,"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/actuator","display_name":"Actuator","score":0.8491142392158508},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8058453798294067},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6433544158935547},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5999670028686523},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5656155347824097},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4685802161693573},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45634257793426514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4465838074684143},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4395892322063446},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.387212336063385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3831908702850342},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10189387202262878}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8491142392158508},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8058453798294067},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6433544158935547},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5999670028686523},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5656155347824097},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4685802161693573},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45634257793426514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4465838074684143},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4395892322063446},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.387212336063385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3831908702850342},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10189387202262878},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/robio58561.2023.10354668","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354668","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W10675466","https://openalex.org/W177930832","https://openalex.org/W1558770978","https://openalex.org/W1561445488","https://openalex.org/W1982455103","https://openalex.org/W2037867075","https://openalex.org/W2286148712","https://openalex.org/W2410102829","https://openalex.org/W2511924737","https://openalex.org/W2556078315","https://openalex.org/W2567812607","https://openalex.org/W2577610181","https://openalex.org/W2773908039","https://openalex.org/W2782435507","https://openalex.org/W2801371961","https://openalex.org/W2870735678","https://openalex.org/W2896978180","https://openalex.org/W2945710126","https://openalex.org/W2970743203","https://openalex.org/W3000998292","https://openalex.org/W3043049019","https://openalex.org/W3045577553","https://openalex.org/W3127411352","https://openalex.org/W3155140745","https://openalex.org/W3155464003","https://openalex.org/W3165325652","https://openalex.org/W3166041277","https://openalex.org/W3185464617","https://openalex.org/W3207349876","https://openalex.org/W4220745337","https://openalex.org/W4226054863","https://openalex.org/W4226308878","https://openalex.org/W4250047203","https://openalex.org/W4281569729","https://openalex.org/W4297094774","https://openalex.org/W4307204265","https://openalex.org/W4376605686","https://openalex.org/W4385488575","https://openalex.org/W6600432347","https://openalex.org/W6846476806"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2773810465","https://openalex.org/W2123055169","https://openalex.org/W4224212509","https://openalex.org/W1978574942","https://openalex.org/W1502247793","https://openalex.org/W2619747063","https://openalex.org/W2320465958","https://openalex.org/W3128773183"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,9,22,26,81,91,98,150,157,167],"full":[4,99,105],"system":[5,100,106],"modeling":[6,64,138],"strategy":[7],"for":[8],"syringe":[10,82],"pump":[11,83],"and":[12,90,123,130,140],"soft":[13,17,52,118],"pneumatic":[14,53],"actuators(SPAs).":[15],"The":[16,30],"actuator":[18],"is":[19,35,45,84,94,113],"conceptualized":[20],"as":[21],"beam":[23],"structure,":[24],"utilizing":[25],"second-order":[27],"bending":[28,39],"model.":[29,101],"equation":[31],"of":[32,51,56,62,153,163],"natural":[33],"frequency":[34],"derived":[36],"from":[37],"Euler\u2019s":[38],"theory,":[40],"while":[41],"the":[42,60,88,108,117,137,141],"damping":[43],"ratio":[44],"estimated":[46],"by":[47],"fitting":[48],"step":[49,128],"responses":[50,122],"actuators.":[54],"Evaluation":[55],"model":[57,93],"uncertainty":[58],"underscores":[59],"robustness":[61],"our":[63,68],"methodology.":[65],"To":[66],"validate":[67],"approach,":[69],"we":[70],"deploy":[71],"it":[72],"across":[73],"four":[74],"prototypes":[75],"varying":[76],"in":[77,126],"dimensional":[78],"parameters.":[79],"Furthermore,":[80],"designed":[85],"to":[86,96,115],"drive":[87],"actuator,":[89,119],"pressure":[92],"proposed":[95],"construct":[97],"By":[102],"employing":[103],"this":[104],"model,":[107],"Linear-Quadratic":[109],"Regulator":[110],"(LQR)":[111],"controller":[112,143],"implemented":[114],"control":[116],"achieving":[120],"high-speed":[121],"high":[124],"accuracy":[125],"both":[127],"response":[129,134],"square":[131],"wave":[132],"function":[133],"tests.":[135],"Both":[136],"method":[139],"LQR":[142],"are":[144],"thoroughly":[145],"evaluated":[146],"through":[147],"experiments.":[148],"Lastly,":[149],"gripper,":[151],"consisting":[152],"two":[154],"actuators":[155],"with":[156,166],"feedback":[158],"controller,":[159],"demonstrates":[160],"stable":[161],"grasping":[162],"delicate":[164],"objects":[165],"significantly":[168],"higher":[169],"success":[170],"rate.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
