{"id":"https://openalex.org/W4411019110","doi":"https://doi.org/10.1109/robosoft63089.2025.11020909","title":"Parametric curve-based State-Space Representation for Shape Control of Soft-Continuum Manipulators","display_name":"Parametric curve-based State-Space Representation for Shape Control of Soft-Continuum Manipulators","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019110","doi":"https://doi.org/10.1109/robosoft63089.2025.11020909"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020909","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/A5117826406","display_name":"Loic Bal","orcid":null},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Loic Bal","raw_affiliation_strings":["University of Lille,Loic Bal and Rochdi Merzouk are With CRISTAL, CNRS UMR 9189,Villeneuve d&#x2019;Ascq,France,59655"],"affiliations":[{"raw_affiliation_string":"University of Lille,Loic Bal and Rochdi Merzouk are With CRISTAL, CNRS UMR 9189,Villeneuve d&#x2019;Ascq,France,59655","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079956878","display_name":"Steeve Mbakop","orcid":"https://orcid.org/0000-0003-4819-9832"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Steeve Mbakop","raw_affiliation_strings":["CRISTAL,CNRS UMR 9189 and JUNIA,Lille,France,59046"],"affiliations":[{"raw_affiliation_string":"CRISTAL,CNRS UMR 9189 and JUNIA,Lille,France,59046","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085805738","display_name":"Guilherme Espindola-Winck","orcid":"https://orcid.org/0000-0002-7439-2575"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guilherme Espindola-Winck","raw_affiliation_strings":["Guilherme Espindola and Christophe Sueur are With CRISTAL,CNRS UMR 9189 and Centrale Lille Institute,Villeneuve d&#x2019;Ascq,France,59655"],"affiliations":[{"raw_affiliation_string":"Guilherme Espindola and Christophe Sueur are With CRISTAL,CNRS UMR 9189 and Centrale Lille Institute,Villeneuve d&#x2019;Ascq,France,59655","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108821083","display_name":"Christophe Sueur","orcid":null},"institutions":[{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christophe Sueur","raw_affiliation_strings":["Guilherme Espindola and Christophe Sueur are With CRISTAL,CNRS UMR 9189 and Centrale Lille Institute,Villeneuve d&#x2019;Ascq,France,59655"],"affiliations":[{"raw_affiliation_string":"Guilherme Espindola and Christophe Sueur are With CRISTAL,CNRS UMR 9189 and Centrale Lille Institute,Villeneuve d&#x2019;Ascq,France,59655","institution_ids":["https://openalex.org/I7454413","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":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rochdi Merzouki","raw_affiliation_strings":["University of Lille,Loic Bal and Rochdi Merzouk are With CRISTAL, CNRS UMR 9189,Villeneuve d&#x2019;Ascq,France,59655"],"affiliations":[{"raw_affiliation_string":"University of Lille,Loic Bal and Rochdi Merzouk are With CRISTAL, CNRS UMR 9189,Villeneuve d&#x2019;Ascq,France,59655","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5117826406"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2279609970"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14287208,"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":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9962000250816345,"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/parametric-statistics","display_name":"Parametric statistics","score":0.6884753704071045},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.562659502029419},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5501993298530579},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4700281322002411},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4402901828289032},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3491005301475525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2902148962020874},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22353675961494446}],"concepts":[{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6884753704071045},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.562659502029419},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5501993298530579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4700281322002411},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4402901828289032},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3491005301475525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2902148962020874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22353675961494446},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020909","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"},{"id":"pmh:oai:HAL:hal-05403080v1","is_oa":false,"landing_page_url":"https://hal.science/hal-05403080","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), Apr 2025, Lausanne, France. pp.1-6, &#x27E8;10.1109/RoboSoft63089.2025.11020909&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.46000000834465027,"display_name":"Reduced inequalities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W2053485789","https://openalex.org/W2058004183","https://openalex.org/W2156218502","https://openalex.org/W2346131912","https://openalex.org/W2560730116","https://openalex.org/W2750248357","https://openalex.org/W2884288731","https://openalex.org/W2896978180","https://openalex.org/W2977911927","https://openalex.org/W2999072533","https://openalex.org/W3015303069","https://openalex.org/W3110084462","https://openalex.org/W3133933269","https://openalex.org/W3205907272","https://openalex.org/W4313639260","https://openalex.org/W4394951226"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027","https://openalex.org/W2579634771","https://openalex.org/W2034019356"],"abstract_inverted_index":{"Soft-Continuum":[0],"Manipulators":[1],"(SCMs)":[2],"are":[3,73,85],"robots":[4],"characterized":[5],"by":[6],"an":[7],"infinite":[8],"number":[9],"of":[10,12,66,70,94,98,124],"degrees":[11],"freedom":[13],"(DoF),":[14],"giving":[15],"them":[16],"remarkable":[17],"dexterity":[18],"and":[19,33],"adaptability,":[20],"depending":[21],"on":[22,113],"their":[23,30],"application.":[24],"However,":[25],"these":[26],"features":[27],"also":[28],"make":[29],"shape":[31,64,102],"modeling":[32],"control":[34],"challenging.":[35],"This":[36,51],"paper":[37],"explores":[38],"a":[39,58,80,95,114],"curve-based":[40],"Reduced-Order":[41],"Model":[42],"(ROM)":[43],"using":[44,75],"the":[45,54,63,71,92,100,122,125],"Pythagorean":[46],"Hodograph":[47],"for":[48,61],"SCM":[49,72,101],"modeling.":[50],"approach":[52],"enables":[53],"authors":[55],"to":[56,91],"develop":[57],"state-space":[59,88],"representation":[60],"controlling":[62],"kinematics":[65,69],"SCMs.":[67],"The":[68],"modeled":[74],"PH":[76],"parametric":[77],"curves":[78,84],"with":[79],"predefined":[81],"length.":[82,108],"These":[83],"expressed":[86],"in":[87,103],"configuration,":[89],"leading":[90],"design":[93],"controller":[96],"capable":[97],"driving":[99],"real-time":[104],"while":[105],"maintaining":[106],"its":[107],"Experimental":[109],"validation":[110],"was":[111],"performed":[112],"bio-inspired":[115],"Soft":[116],"Continuum":[117],"Elephant":[118],"Trunk":[119],"Robot,":[120],"demonstrating":[121],"validity":[123],"proposed":[126],"method.":[127]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
