{"id":"https://openalex.org/W4396875123","doi":"https://doi.org/10.1109/robosoft60065.2024.10522000","title":"Safe Control for Soft-Rigid Robots with Self-Contact Using Control Barrier Functions","display_name":"Safe Control for Soft-Rigid Robots with Self-Contact Using Control Barrier Functions","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396875123","doi":"https://doi.org/10.1109/robosoft60065.2024.10522000"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10522000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10522000","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","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/A5069238076","display_name":"Zach J. Patterson","orcid":"https://orcid.org/0000-0003-4371-7442"},"institutions":[{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zach J. Patterson","raw_affiliation_strings":["MIT.,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT.,Computer Science and Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I4210164862"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111585536","display_name":"Wei Xiao","orcid":"https://orcid.org/0009-0003-3957-3076"},"institutions":[{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wei Xiao","raw_affiliation_strings":["MIT.,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT.,Computer Science and Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I4210164862"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069666031","display_name":"Emily Sologuren","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Emily Sologuren","raw_affiliation_strings":["MIT.,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT.,Computer Science and Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I4210164862"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["MIT.,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT.,Computer Science and Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I4210164862"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210164862"],"apc_list":null,"apc_paid":null,"fwci":1.2719,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77151002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"151","last_page":"156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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/robot","display_name":"Robot","score":0.7457947134971619},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6268380284309387},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.6155027747154236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5713247656822205},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5669263005256653},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5293555855751038},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4952186644077301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4685465097427368},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.4633937478065491},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41108641028404236},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3853810131549835},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.3732326626777649},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3262764811515808},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26025909185409546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14005526900291443}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7457947134971619},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6268380284309387},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.6155027747154236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5713247656822205},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5669263005256653},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5293555855751038},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4952186644077301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4685465097427368},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.4633937478065491},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41108641028404236},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3853810131549835},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.3732326626777649},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3262764811515808},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26025909185409546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14005526900291443},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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":1,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10522000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10522000","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1972149633","https://openalex.org/W1980569135","https://openalex.org/W2001728872","https://openalex.org/W2062373349","https://openalex.org/W2101667962","https://openalex.org/W2112474089","https://openalex.org/W2615167078","https://openalex.org/W2619381903","https://openalex.org/W2620840602","https://openalex.org/W2963966702","https://openalex.org/W2997060159","https://openalex.org/W2999072533","https://openalex.org/W3000160985","https://openalex.org/W3008276278","https://openalex.org/W3011888914","https://openalex.org/W3204383275","https://openalex.org/W3204719635","https://openalex.org/W3207192201","https://openalex.org/W3207921725","https://openalex.org/W4213193609","https://openalex.org/W4225149305","https://openalex.org/W4231367092","https://openalex.org/W4250589301","https://openalex.org/W4285102520","https://openalex.org/W4297825594","https://openalex.org/W4313562870","https://openalex.org/W4376456312","https://openalex.org/W6696497002"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2385263368","https://openalex.org/W4312473168","https://openalex.org/W2326585759","https://openalex.org/W4211124276","https://openalex.org/W4312269480","https://openalex.org/W2606699054"],"abstract_inverted_index":{"Incorporating":[0],"both":[1,22,125],"flexible":[2],"and":[3,24,31,84,128],"rigid":[4,18],"components":[5],"in":[6,62,92,124,143,152],"robot":[7,70],"designs":[8],"offers":[9],"a":[10,112,149],"unique":[11],"solution":[12],"to":[13,88],"the":[14,29,40,53,65,69,77,153],"limitations":[15],"of":[16,42,79,155],"traditional":[17],"robotics":[19],"by":[20],"enabling":[21],"compliance":[23],"strength.":[25],"This":[26],"paper":[27],"explores":[28],"challenges":[30],"solutions":[32],"for":[33,116],"controlling":[34],"soft-rigid":[35,95,144],"hybrid":[36,96,145],"robots,":[37],"particularly":[38],"addressing":[39],"issue":[41],"self-contact.":[43],"Conventional":[44],"control":[45,114,138],"methods":[46],"prioritize":[47],"precise":[48],"state":[49],"tracking,":[50],"inadvertently":[51],"increasing":[52],"system's":[54],"overall":[55],"stiffness,":[56],"which":[57],"is":[58,121],"not":[59],"always":[60],"desirable":[61],"interactions":[63],"with":[64],"environment":[66],"or":[67],"within":[68,111],"itself.":[71],"To":[72],"address":[73],"this,":[74],"we":[75,108],"investigate":[76],"application":[78],"Control":[80],"Barrier":[81],"Functions":[82],"(CBFs)":[83],"High":[85],"Order":[86],"CBFs":[87,110],"manage":[89],"self-contact":[90,117,142],"scenarios":[91],"serially":[93],"connected":[94],"robots.":[97],"Through":[98],"an":[99],"analysis":[100],"based":[101],"on":[102],"Piecewise":[103],"Constant":[104],"Curvature":[105],"(PCC)":[106],"kinematics,":[107],"establish":[109],"classical":[113],"framework":[115],"dynamics.":[118],"Our":[119],"methodology":[120],"rigorously":[122],"evaluated":[123],"simulation":[126],"environments":[127],"physical":[129],"hardware":[130],"systems.":[131],"The":[132],"findings":[133],"demonstrate":[134],"that":[135],"our":[136],"proposed":[137],"strategy":[139],"effectively":[140],"regulates":[141],"robotic":[146],"systems,":[147],"marking":[148],"significant":[150],"advancement":[151],"field":[154],"robotics.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
