{"id":"https://openalex.org/W2921426296","doi":"https://doi.org/10.1109/robosoft.2019.8722720","title":"Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction","display_name":"Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2921426296","doi":"https://doi.org/10.1109/robosoft.2019.8722720","mag":"2921426296"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722720","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.12210/22570","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055406320","display_name":"Othman Lakhal","orcid":"https://orcid.org/0000-0003-0169-5396"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Othman Lakhal","raw_affiliation_strings":["Polytech Lille, CNRS-UMR 9189, Villeneuve d'Ascq, France"],"affiliations":[{"raw_affiliation_string":"Polytech Lille, CNRS-UMR 9189, Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045013272","display_name":"Achille Melingui","orcid":"https://orcid.org/0000-0003-2470-7708"},"institutions":[{"id":"https://openalex.org/I1331070479","display_name":"Universit\u00e9 de Yaound\u00e9 I","ror":"https://ror.org/022zbs961","country_code":"CM","type":"education","lineage":["https://openalex.org/I1331070479"]}],"countries":["CM"],"is_corresponding":false,"raw_author_name":"Achille Melingui","raw_affiliation_strings":["Department of Electrical and Telecommunications Engineering, University of Yaounde 1, Yaounde, Cameroon"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Telecommunications Engineering, University of Yaounde 1, Yaounde, Cameroon","institution_ids":["https://openalex.org/I1331070479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105841700","display_name":"G\u00e9rald Dherbomez","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gerald Dherbomez","raw_affiliation_strings":["Polytech Lille, CNRS-UMR 9189, Villeneuve d'Ascq, France"],"affiliations":[{"raw_affiliation_string":"Polytech Lille, CNRS-UMR 9189, Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061984641","display_name":"Rochdi Merzouki","orcid":"https://orcid.org/0000-0001-9153-6078"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rochdi Merzouki","raw_affiliation_strings":["Polytech Lille, CNRS-UMR 9189, Villeneuve d'Ascq, France"],"affiliations":[{"raw_affiliation_string":"Polytech Lille, CNRS-UMR 9189, Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055406320"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210154774"],"apc_list":null,"apc_paid":null,"fwci":1.7386,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.87846962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"448","last_page":"453"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.9950000047683716,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9861999750137329,"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/kinematics","display_name":"Kinematics","score":0.5813425183296204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5798888206481934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5167697668075562},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46345657110214233},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4502347409725189},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.43920445442199707},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4295029640197754},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3911149799823761},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35710301995277405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29998481273651123},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1749570667743683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13820740580558777}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5813425183296204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5798888206481934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5167697668075562},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46345657110214233},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4502347409725189},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.43920445442199707},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4295029640197754},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3911149799823761},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35710301995277405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29998481273651123},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1749570667743683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13820740580558777},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft.2019.8722720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722720","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02058069v1","is_oa":false,"landing_page_url":"https://hal.science/hal-02058069","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"RoboSoft 2019 - IEEE International Conference on Soft Robotics, Apr 2019, Seoul, South Korea. pp.1-6","raw_type":"Conference papers"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/22570","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/22570","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/22570","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/22570","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1495118766","https://openalex.org/W1872826877","https://openalex.org/W1914893953","https://openalex.org/W1972826462","https://openalex.org/W1995130521","https://openalex.org/W2053485789","https://openalex.org/W2065406009","https://openalex.org/W2087104703","https://openalex.org/W2090850541","https://openalex.org/W2110795172","https://openalex.org/W2115250323","https://openalex.org/W2129995994","https://openalex.org/W2136885855","https://openalex.org/W2137160061","https://openalex.org/W2155201064","https://openalex.org/W2246023205","https://openalex.org/W2325975990","https://openalex.org/W2345630035","https://openalex.org/W2407692387","https://openalex.org/W2482629727","https://openalex.org/W2492327398","https://openalex.org/W2535455730","https://openalex.org/W2597653918","https://openalex.org/W2617673656","https://openalex.org/W2739551280","https://openalex.org/W2755085767","https://openalex.org/W2765140133","https://openalex.org/W2772831865","https://openalex.org/W2887311746","https://openalex.org/W2887785894","https://openalex.org/W3102133260","https://openalex.org/W3130993569","https://openalex.org/W4236215320","https://openalex.org/W4285719527","https://openalex.org/W6728896468","https://openalex.org/W6744528432"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"Additive":[0,37],"manufacturing":[1,38],"is":[2,44,62,87,140,176],"an":[3],"automated":[4],"process":[5],"for":[6,30,96,118,178],"producing":[7],"layer-by-layer":[8],"material":[9,41],"deposition.":[10],"Recently":[11],"this":[12,78,112,138],"technology":[13],"has":[14],"been":[15],"introduced":[16],"in":[17,21,122,142,152],"the":[18,40,54,90,97,133,153,169,183,202,207],"industrial":[19],"construction":[20],"order":[22],"to":[23,73,89,200],"print":[24],"houses":[25],"or":[26],"smaller":[27],"piece":[28],"structures":[29,58,107],"on-site":[31],"assembly,":[32],"with":[33,59,84,108,159],"complex":[34,109],"geometry.":[35],"In":[36,77],"processes,":[39],"deposition":[42],"step":[43],"generally":[45],"followed":[46],"by":[47],"a":[48,80,85,93,143,160,164,193],"printing":[49],"quality":[50,98],"inspection":[51,99],"step.":[52],"However,":[53],"geometry":[55],"of":[56,92,127,135,146,155,171,182,195,204,206],"printed":[57],"minimal":[60],"surfaces":[61],"sometimes":[63],"complex,":[64],"where":[65],"rigid":[66],"structure":[67],"robots":[68],"cannot":[69],"reach":[70],"certain":[71],"zones":[72],"scan":[74],"their":[75],"surfaces.":[76],"paper,":[79],"continuum-hyper-redundant":[81],"manipulator":[82],"equipped":[83],"camera":[86],"attached":[88],"end-effector":[91],"mobile-manipulator":[94],"robot":[95,185],"process.":[100],"Indeed,":[101],"Continuum":[102],"manipulators":[103],"can":[104],"bend":[105],"along":[106],"geometry;":[110],"and":[111,120,173,180,192],"inherent":[113],"flexibility":[114],"makes":[115],"them":[116],"suitable":[117],"navigation":[119],"operation":[121],"congested":[123],"environments.":[124],"The":[125],"number":[126],"controlled":[128],"actuators":[129],"being":[130],"greater":[131],"than":[132],"dimension":[134],"task":[136],"space,":[137],"work":[139],"summarized":[141],"trajectory":[144],"tracking":[145],"hyper-redundant":[147,184],"robots.":[148],"This":[149],"issue":[150],"lies":[151],"resolution":[154,181],"strongly":[156],"nonlinear":[157],"equations":[158],"realtime":[161],"computation.":[162],"Thus,":[163],"hybrid":[165],"methodology":[166],"which":[167],"combines":[168],"advantages":[170],"quantitative":[172],"qualitative":[174],"approaches":[175],"used":[177],"modeling":[179],"kinematics.":[186],"A":[187],"kinematic":[188],"controller":[189],"was":[190,197],"designed":[191],"set":[194],"experiments":[196],"carried":[198],"out":[199],"evaluate":[201],"level":[203],"efficiency":[205],"proposed":[208],"approach.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}