{"id":"https://openalex.org/W4225158217","doi":"https://doi.org/10.1109/robosoft54090.2022.9762220","title":"Model-Based Data-Driven System Identification and Controller Synthesis Framework for Precise Control of SISO and MISO HASEL-Powered Robotic Systems","display_name":"Model-Based Data-Driven System Identification and Controller Synthesis Framework for Precise Control of SISO and MISO HASEL-Powered Robotic Systems","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4225158217","doi":"https://doi.org/10.1109/robosoft54090.2022.9762220"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5087512926","display_name":"Angella Volchko","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Angella Volchko","raw_affiliation_strings":["University of Colorado,Mechanical Engineering Department,Boulder,CO,USA,80309"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado,Mechanical Engineering Department,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027879245","display_name":"Shane K. Mitchell","orcid":"https://orcid.org/0000-0002-2385-0564"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shane K. Mitchell","raw_affiliation_strings":["Artimus Robotics Inc,Boulder,CO,USA,80301"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artimus Robotics Inc,Boulder,CO,USA,80301","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079040576","display_name":"Timothy G. Morrissey","orcid":"https://orcid.org/0000-0002-0123-4998"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Timothy G. Morrissey","raw_affiliation_strings":["Artimus Robotics Inc,Boulder,CO,USA,80301"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artimus Robotics Inc,Boulder,CO,USA,80301","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073287604","display_name":"J. Sean Humbert","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Sean Humbert","raw_affiliation_strings":["University of Colorado,Mechanical Engineering and Aerospace Engineering Departments,Boulder,CO,USA,80309"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado,Mechanical Engineering and Aerospace Engineering Departments,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8635,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92985642,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"209","last_page":"216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9986000061035156,"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/T13050","display_name":"Oil and Gas Production Techniques","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10868","display_name":"Soft Robotics and Applications","score":0.9891999959945679,"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-engineering","display_name":"Control engineering","score":0.6671662926673889},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6509931087493896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6404529213905334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6314899921417236},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5888718366622925},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5280141234397888},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.49962878227233887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.493597149848938},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44901958107948303},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.42990145087242126},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.42608603835105896},{"id":"https://openalex.org/keywords/data-driven","display_name":"Data-driven","score":0.4235846996307373},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4140552282333374},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2928723394870758},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25932103395462036},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.23213264346122742},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22927743196487427},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.20264080166816711}],"concepts":[{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6671662926673889},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6509931087493896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6404529213905334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6314899921417236},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5888718366622925},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5280141234397888},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.49962878227233887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.493597149848938},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44901958107948303},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.42990145087242126},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.42608603835105896},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.4235846996307373},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4140552282333374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2928723394870758},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25932103395462036},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.23213264346122742},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22927743196487427},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.20264080166816711},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G6227291870","display_name":null,"funder_award_id":"W911NF-21-P0040","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G6685196412","display_name":null,"funder_award_id":"EFMA-1830924","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1723433682","https://openalex.org/W1977073935","https://openalex.org/W2078898317","https://openalex.org/W2079574144","https://openalex.org/W2121117794","https://openalex.org/W2131588967","https://openalex.org/W2730644873","https://openalex.org/W2781516556","https://openalex.org/W2782093158","https://openalex.org/W2782435507","https://openalex.org/W2909573358","https://openalex.org/W2953081104","https://openalex.org/W3012297501","https://openalex.org/W3038425751","https://openalex.org/W3080675481","https://openalex.org/W3099803807","https://openalex.org/W3101392902","https://openalex.org/W3110084462","https://openalex.org/W4248502641"],"related_works":["https://openalex.org/W2015878442","https://openalex.org/W2955261040","https://openalex.org/W3104152360","https://openalex.org/W2783518503","https://openalex.org/W3094251759","https://openalex.org/W4380077086","https://openalex.org/W2911666782","https://openalex.org/W4308122636","https://openalex.org/W4402575579","https://openalex.org/W2123479323"],"abstract_inverted_index":{"Soft":[0],"robots":[1],"require":[2],"a":[3,17,51,76,89,123],"complimentary":[4],"control":[5,20,39],"architecture":[6],"to":[7,19,84,108],"support":[8],"their":[9,121],"inherent":[10],"compliance":[11],"and":[12,24,41,72,87,97,111],"versatility.":[13],"This":[14],"work":[15,104],"presents":[16],"framework":[18],"soft-robotic":[21],"systems":[22,117],"systematically":[23],"effectively.":[25],"The":[26,66,99],"data-driven":[27],"model-based":[28],"approach":[29],"developed":[30],"here":[31],"makes":[32],"use":[33],"of":[34,59,120],"Dynamic":[35],"Mode":[36],"Decomposition":[37],"with":[38],"(DMDc)":[40],"standard":[42],"controller":[43],"synthesis":[44],"techniques.":[45],"These":[46],"methods":[47],"are":[48],"implemented":[49],"on":[50],"robotic":[52],"arm":[53],"driven":[54],"by":[55],"an":[56],"antagonist":[57],"pair":[58],"Hydraulically":[60],"Amplified":[61],"Self-Healing":[62],"Electrostatic":[63],"(HASEL)":[64],"actuators.":[65],"results":[67],"demonstrate":[68],"excellent":[69],"tracking":[70],"performance":[71],"disturbance":[73],"rejection,":[74],"achieving":[75],"steady":[77],"state":[78],"error":[79],"under":[80],"0.25%":[81],"in":[82,102],"response":[83],"step":[85],"inputs":[86],"maintaining":[88],"reference":[90],"orientation":[91],"within":[92],"0.5":[93],"degrees":[94],"during":[95],"loading":[96],"unloading.":[98],"procedure":[100],"presented":[101],"this":[103],"can":[105],"be":[106],"extended":[107],"develop":[109],"effective":[110],"robust":[112],"controllers":[113],"for":[114],"other":[115],"soft-actuated":[116],"without":[118],"knowledge":[119],"dynamics":[122],"priori.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
