{"id":"https://openalex.org/W4411019421","doi":"https://doi.org/10.1109/robosoft63089.2025.11020830","title":"A Fast and Model Based Approach for Evaluating Task-Competence of Antagonistic Continuum Arms","display_name":"A Fast and Model Based Approach for Evaluating Task-Competence of Antagonistic Continuum Arms","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019421","doi":"https://doi.org/10.1109/robosoft63089.2025.11020830"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020830","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th 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/A5083797281","display_name":"Bill Fan","orcid":"https://orcid.org/0009-0007-0140-4655"},"institutions":[{"id":"https://openalex.org/I137428128","display_name":"Franklin W. Olin College of Engineering","ror":"https://ror.org/000zamq06","country_code":"US","type":"education","lineage":["https://openalex.org/I137428128"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bill Fan","raw_affiliation_strings":["Olin College of Engineering,Needham,MA,USA"],"affiliations":[{"raw_affiliation_string":"Olin College of Engineering,Needham,MA,USA","institution_ids":["https://openalex.org/I137428128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114636791","display_name":"Jacob Roulier","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Roulier","raw_affiliation_strings":["University of Massachusetts,Department of Mechanical and Industrial Engineering,Amherst,MA,USA"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts,Department of Mechanical and Industrial Engineering,Amherst,MA,USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114636792","display_name":"Gina Olson","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gina Olson","raw_affiliation_strings":["University of Massachusetts,Department of Mechanical and Industrial Engineering,Amherst,MA,USA"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts,Department of Mechanical and Industrial Engineering,Amherst,MA,USA","institution_ids":["https://openalex.org/I24603500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083797281"],"corresponding_institution_ids":["https://openalex.org/I137428128"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16915179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9965999722480774,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919075608253479},{"id":"https://openalex.org/keywords/competence","display_name":"Competence (human resources)","score":0.5502455830574036},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42282581329345703},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.2438426911830902},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.22659137845039368},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1891549825668335},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.11024925112724304}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919075608253479},{"id":"https://openalex.org/C100521375","wikidata":"https://www.wikidata.org/wiki/Q2015382","display_name":"Competence (human resources)","level":2,"score":0.5502455830574036},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42282581329345703},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2438426911830902},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.22659137845039368},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1891549825668335},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.11024925112724304}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020830","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","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":20,"referenced_works":["https://openalex.org/W2015106839","https://openalex.org/W2067243719","https://openalex.org/W2135485145","https://openalex.org/W2241606133","https://openalex.org/W2592294539","https://openalex.org/W2746200739","https://openalex.org/W2806632604","https://openalex.org/W2807761827","https://openalex.org/W2897782084","https://openalex.org/W3000160985","https://openalex.org/W3004554579","https://openalex.org/W3035825376","https://openalex.org/W3090875899","https://openalex.org/W3125605919","https://openalex.org/W4200428696","https://openalex.org/W4220948250","https://openalex.org/W4224073121","https://openalex.org/W4376605563","https://openalex.org/W4376605682","https://openalex.org/W4388201361"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Soft":[0],"robot":[1],"arms":[2,13],"have":[3],"made":[4],"significant":[5],"progress":[6],"towards":[7],"completing":[8],"human-scale":[9],"tasks,":[10],"but":[11],"designing":[12],"for":[14,112],"tasks":[15],"with":[16],"specific":[17],"load":[18],"and":[19,41,49,66,106,133,159,173,180],"workspace":[20],"requirements":[21],"remains":[22],"difficult.":[23],"A":[24],"key":[25],"challenge":[26],"is":[27,103,136],"the":[28,62,69,74,186,194],"lack":[29],"of":[30,71,90,128,163,176,185,200],"model-based":[31,82,201],"design":[32,65,83,96,202],"tools,":[33,84,203],"forcing":[34],"advancement":[35,199],"to":[36,119,205],"occur":[37],"through":[38,130,156,161],"empirical":[39],"iteration":[40],"observation.":[42],"Existing":[43],"models":[44],"are":[45],"focused":[46],"on":[47,51,147],"control":[48],"rely":[50],"parameter":[52],"fits,":[53],"which":[54],"means":[55],"they":[56],"cannot":[57],"provide":[58],"general":[59],"conclusions":[60],"about":[61],"mapping":[63],"between":[64],"performance":[67,129],"or":[68],"influence":[70],"factors":[72],"outside":[73],"fitting":[75],"data.":[76],"As":[77],"a":[78,87,93,114,121,125,182,191],"first":[79,192],"step":[80],"toward":[81],"we":[85],"introduce":[86],"novel":[88,110],"method":[89,102,169],"analyzing":[91],"whether":[92],"proposed":[94,115,195],"arm":[95,116],"can":[97],"complete":[98],"desired":[99],"tasks.":[100],"Our":[101,144,168],"informative,":[104],"interpretable,":[105],"fast;":[107],"it":[108,123,135],"provides":[109,181],"metrics":[111],"quantifying":[113],"design\u2019s":[117],"ability":[118],"perform":[120],"task,":[122],"yields":[124],"graphical":[126],"interpretation":[127],"segment":[131],"forces,":[132],"computing":[134],"over":[137],"80x":[138],"faster":[139],"than":[140],"optimization":[141],"based":[142],"methods.":[143],"formulation":[145],"focuses":[146],"antagonistic,":[148],"pneumatically-driven":[149],"soft":[150,208],"arms.":[151,209],"We":[152],"demonstrate":[153],"our":[154],"approach":[155,196],"example":[157],"analysis,":[158],"also":[160],"consideration":[162],"antagonistic":[164],"vs":[165],"non-antagonistic":[166],"designs.":[167],"enables":[170],"fast,":[171],"direct":[172],"task-specific":[174],"comparison":[175],"these":[177],"two":[178],"architectures,":[179],"new":[183],"visualization":[184],"comparative":[187],"mechanics.":[188],"While":[189],"only":[190],"step,":[193],"will":[197],"support":[198],"leading":[204],"highly":[206],"capable":[207]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}