{"id":"https://openalex.org/W4391695375","doi":"https://doi.org/10.1109/sii58957.2024.10417390","title":"Distributed Cascade Force Control of Soft-Tactile-Based Multi-robot System for Object Transportation","display_name":"Distributed Cascade Force Control of Soft-Tactile-Based Multi-robot System for Object Transportation","publication_year":2024,"publication_date":"2024-01-08","ids":{"openalex":"https://openalex.org/W4391695375","doi":"https://doi.org/10.1109/sii58957.2024.10417390"},"language":"en","primary_location":{"id":"doi:10.1109/sii58957.2024.10417390","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii58957.2024.10417390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","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/A5101706487","display_name":"Anh-Duy Nguyen","orcid":"https://orcid.org/0000-0003-1037-8376"},"institutions":[{"id":"https://openalex.org/I22188714","display_name":"University of Prince Edward Island","ror":"https://ror.org/02xh9x144","country_code":"CA","type":"education","lineage":["https://openalex.org/I22188714"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Duy Anh Nguyen","raw_affiliation_strings":["University of Prince Edward Island,More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering,Charlottetown,Canada","More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering, University of Prince Edward Island, Charlottetown, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Prince Edward Island,More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering,Charlottetown,Canada","institution_ids":["https://openalex.org/I22188714"]},{"raw_affiliation_string":"More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering, University of Prince Edward Island, Charlottetown, Canada","institution_ids":["https://openalex.org/I22188714"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039564070","display_name":"Nhat Minh Dinh Le","orcid":"https://orcid.org/0000-0001-8304-8584"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nhat Minh Dinh Le","raw_affiliation_strings":["School of Materials Science, Japan Advanced Institute of Science and Technology,Soft Haptics Lab.,Nomi,Ishikawa,Japan,923\u20131292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Materials Science, Japan Advanced Institute of Science and Technology,Soft Haptics Lab.,Nomi,Ishikawa,Japan,923\u20131292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010140596","display_name":"Nhan Huu Nguyen","orcid":"https://orcid.org/0000-0002-9309-7336"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nhan Huu Nguyen","raw_affiliation_strings":["School of Materials Science, Japan Advanced Institute of Science and Technology,Soft Haptics Lab.,Nomi,Ishikawa,Japan,923\u20131292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Materials Science, Japan Advanced Institute of Science and Technology,Soft Haptics Lab.,Nomi,Ishikawa,Japan,923\u20131292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087202037","display_name":"Pham Duy Hung","orcid":"https://orcid.org/0000-0001-7878-9409"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pham Duy Hung","raw_affiliation_strings":["University of Engineering and Technology,Vietnam","University of Engineering and Technology, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Engineering and Technology,Vietnam","institution_ids":[]},{"raw_affiliation_string":"University of Engineering and Technology, Vietnam","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007406858","display_name":"Van Anh Ho","orcid":"https://orcid.org/0000-0002-4519-0448"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I1319490839","https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Van Anh Ho","raw_affiliation_strings":["School of Materials Science, Japan Advanced Institute of Science and Technology,Soft Haptics Lab.,Nomi,Ishikawa,Japan,923\u20131292","Japan Science and Technology Agency, PRESTO, Kawaguchi, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Materials Science, Japan Advanced Institute of Science and Technology,Soft Haptics Lab.,Nomi,Ishikawa,Japan,923\u20131292","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"Japan Science and Technology Agency, PRESTO, Kawaguchi, Saitama, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051527233","display_name":"Trung Dung Ngo","orcid":"https://orcid.org/0000-0003-3630-8165"},"institutions":[{"id":"https://openalex.org/I22188714","display_name":"University of Prince Edward Island","ror":"https://ror.org/02xh9x144","country_code":"CA","type":"education","lineage":["https://openalex.org/I22188714"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Trung Dung Ngo","raw_affiliation_strings":["University of Prince Edward Island,More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering,Charlottetown,Canada","More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering, University of Prince Edward Island, Charlottetown, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Prince Edward Island,More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering,Charlottetown,Canada","institution_ids":["https://openalex.org/I22188714"]},{"raw_affiliation_string":"More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering, University of Prince Edward Island, Charlottetown, Canada","institution_ids":["https://openalex.org/I22188714"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03736531,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"398","last_page":"403"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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":0.9990000128746033,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"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/robot","display_name":"Robot","score":0.7424191832542419},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6939556002616882},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5892289280891418},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5565756559371948},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5347354412078857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5103744864463806},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4678766429424286},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4674110412597656},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.45890775322914124},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44649848341941833},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43732476234436035},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.41127365827560425},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3494657576084137},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2800835967063904},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2711672782897949},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08256068825721741},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07990345358848572}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7424191832542419},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6939556002616882},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5892289280891418},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5565756559371948},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5347354412078857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5103744864463806},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4678766429424286},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4674110412597656},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.45890775322914124},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44649848341941833},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43732476234436035},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.41127365827560425},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3494657576084137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2800835967063904},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2711672782897949},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08256068825721741},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07990345358848572},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii58957.2024.10417390","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/sii58957.2024.10417390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","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":14,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1595992183","https://openalex.org/W2013419160","https://openalex.org/W2054381558","https://openalex.org/W2161481732","https://openalex.org/W2415175524","https://openalex.org/W2489335816","https://openalex.org/W2524437357","https://openalex.org/W2746159415","https://openalex.org/W2790956722","https://openalex.org/W2890159875","https://openalex.org/W3161411321","https://openalex.org/W4246461292","https://openalex.org/W4388286257"],"related_works":["https://openalex.org/W2137135972","https://openalex.org/W1984009428","https://openalex.org/W2067464119","https://openalex.org/W2147725488","https://openalex.org/W2625368530","https://openalex.org/W4390188352","https://openalex.org/W2676527818","https://openalex.org/W2339217605","https://openalex.org/W2999364027","https://openalex.org/W2804432643"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,63],"present":[4],"a":[5,20,24,65,103,164],"distributed":[6,66],"cascade":[7,67],"force":[8,75,87],"control":[9,72,94,123,146],"system":[10,124],"(DCFC)":[11],"for":[12],"multiple":[13,157],"robots":[14,34,97,158],"with":[15,37],"the":[16,54,61,79,85,89,96,100,122,128,141,144,149,153],"aim":[17],"of":[18,56,110,121,143,156],"pushing":[19,81,160],"rigid":[21,58],"object":[22,101,112,162],"towards":[23,163],"desired":[25,86,104,166],"moving":[26,57,165],"target":[27],"without":[28,106],"their":[29],"inter-robot":[30,107],"communication.":[31],"These":[32],"mobile":[33],"are":[35,125],"equipped":[36],"360-degree":[38],"vision-based":[39],"soft":[40],"tactile":[41],"sensors":[42],"utilized":[43],"to":[44,88,98,139],"determine":[45],"contact":[46,74,82],"location":[47],"and":[48,76,83,114,119,136,148],"resultant":[49],"impact":[50],"force.":[51],"By":[52],"investigating":[53],"dynamics":[55],"objects":[59],"on":[60],"flat,":[62],"proposed":[64,145],"control.":[68],"The":[69,91,117],"inner":[70],"loop":[71,93],"incorporates":[73],"positioning,":[77],"ensuring":[78],"robots'":[80],"applying":[84],"object.":[90],"outer":[92],"coordinates":[95],"push":[99],"in":[102,159],"direction":[105],"communication,":[108],"regardless":[109],"unknown":[111],"mass":[113],"friction":[115],"uncertainty.":[116],"stability":[118,130],"convergence":[120],"verified":[126],"using":[127],"Lyapunov":[129],"theory.":[131],"We":[132],"also":[133],"conducted":[134],"simulation":[135],"real-world":[137],"experiments":[138],"validate":[140],"performance":[142],"method,":[147],"experimental":[150],"results":[151],"showcase":[152],"successful":[154],"coordination":[155],"an":[161],"direction.":[167]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}