{"id":"https://openalex.org/W2590931283","doi":"https://doi.org/10.1109/simpar.2016.7862374","title":"Point-to-point motion controller for soft robotic manipulators","display_name":"Point-to-point motion controller for soft robotic manipulators","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2590931283","doi":"https://doi.org/10.1109/simpar.2016.7862374","mag":"2590931283"},"language":"en","primary_location":{"id":"doi:10.1109/simpar.2016.7862374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","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/A5037726649","display_name":"Yasmin Ansari","orcid":"https://orcid.org/0000-0002-5967-5067"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Yasmin Ansari","raw_affiliation_strings":["Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033570527","display_name":"Egidio Falotico","orcid":"https://orcid.org/0000-0001-8060-8080"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Egidio Falotico","raw_affiliation_strings":["Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Soft Robotics Lab, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I4210116474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037726649"],"corresponding_institution_ids":["https://openalex.org/I4210116474"],"apc_list":null,"apc_paid":null,"fwci":0.6838,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72585429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"49","last_page":"54"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9800000190734863,"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/T11486","display_name":"Micro and Nano Robotics","score":0.978600025177002,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6839179396629333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6397026777267456},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6052108407020569},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5340055227279663},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5153438448905945},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5136768221855164},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4703778624534607},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.46645134687423706},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.41864633560180664},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.4166276752948761},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34476935863494873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3433230519294739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22607654333114624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20861533284187317},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17931193113327026}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6839179396629333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6397026777267456},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6052108407020569},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5340055227279663},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5153438448905945},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5136768221855164},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4703778624534607},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46645134687423706},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.41864633560180664},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4166276752948761},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34476935863494873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3433230519294739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22607654333114624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20861533284187317},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17931193113327026},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/simpar.2016.7862374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/513865","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/513865","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W180119731","https://openalex.org/W1472557719","https://openalex.org/W1515749184","https://openalex.org/W1966705057","https://openalex.org/W1987187457","https://openalex.org/W2036723211","https://openalex.org/W2037867075","https://openalex.org/W2053616263","https://openalex.org/W2079574144","https://openalex.org/W2099618002","https://openalex.org/W2104602264","https://openalex.org/W2129442128","https://openalex.org/W2146587048","https://openalex.org/W2170836916","https://openalex.org/W2284390012","https://openalex.org/W2490314460","https://openalex.org/W2495535193","https://openalex.org/W6723281645"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"Accurate":[0],"kinematic":[1],"motion":[2],"control":[3],"of":[4,51,91,99,119,123,172,181,196],"continuum":[5],"manipulators":[6],"based":[7,108],"on":[8,102,109,160],"soft":[9,106,127],"robotic":[10],"technologies":[11],"is":[12,59,67,94,143,152,175],"considered":[13],"a":[14,40,45,80,103,146,156,166],"challenging":[15],"task":[16],"due":[17],"to":[18,70,95,154],"non-linear":[19],"material":[20],"properties,":[21],"high-dimensionality,":[22],"and":[23,114,138,183],"continuous":[24],"state-space.":[25],"This":[26,189],"challenge":[27],"becomes":[28],"even":[29],"more":[30],"non-trivial":[31],"in":[32,54,158],"systems":[33],"with":[34],"multiple":[35],"functional":[36],"capabilities.":[37],"We":[38],"present":[39],"hierarchical":[41],"controller":[42,101,190],"that":[43,129],"generates":[44,74],"trajectory":[46],"within":[47,165],"the":[48,52,55,71,75,92,97,120,131,173,179],"reachable":[49],"workspace":[50],"manipulator":[53,107,121,142],"top":[56],"tier.":[57],"It":[58],"then":[60],"sampled":[61,147],"at":[62],"discrete":[63],"points.":[64],"A":[65,116],"sample":[66],"fed":[68],"sequentially":[69],"lower-tier,":[72],"which":[73],"required":[76],"motor":[77],"commands":[78],"through":[79,145],"novel":[81],"online":[82],"parametric":[83],"generalized":[84],"policy":[85],"iteration":[86],"scheme.":[87],"The":[88,141,150,170],"main":[89],"contribution":[90],"work":[93],"test":[96],"practicality":[98],"this":[100],"simulated":[104],"modular":[105],"two":[110],"performance":[111],"criteria:":[112],"accuracy":[113,168],"timing.":[115],"single":[117],"module":[118],"comprises":[122],"three":[124],"radially":[125],"arranged":[126],"actuators":[128],"have":[130],"following":[132],"hypothetical":[133],"multifunctional":[134],"capabilities:":[135],"contraction,":[136],"extension,":[137],"omnidirectional":[139],"bending.":[140],"moved":[144],"circular":[148],"trajectory.":[149],"algorithm":[151,174],"able":[153],"generate":[155],"solution":[157],"6.92s":[159],"average":[161],"for":[162,193],"an":[163,185],"optimized":[164],"0.003m":[167],"limit.":[169],"robustness":[171],"verified":[176],"by":[177],"increasing":[178],"number":[180],"samples":[182],"using":[184],"unbiased":[186],"starting":[187],"position.":[188],"paves":[191],"way":[192],"real-world":[194],"applications":[195],"these":[197],"systems.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
