{"id":"https://openalex.org/W4415125741","doi":"https://doi.org/10.1109/tro.2025.3620806","title":"Controlling Deformable Objects With Nonnegligible Dynamics: A Shape-Regulation Approach to End-Point Positioning","display_name":"Controlling Deformable Objects With Nonnegligible Dynamics: A Shape-Regulation Approach to End-Point Positioning","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415125741","doi":"https://doi.org/10.1109/tro.2025.3620806"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3620806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3620806","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5094018737","display_name":"Sebastien Tiburzio","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sebastien Tiburzio","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands"],"raw_orcid":"https://orcid.org/0009-0003-1707-4700","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071577151","display_name":"T. A. Coleman","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Tom\u00e1s Coleman","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-2218-0829","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026717128","display_name":"Daniel Feliu-Taleg\u00f3n","orcid":"https://orcid.org/0000-0003-1206-0644"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Daniel Feliu-Talegon","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1206-0644","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1067-1134","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":0.8209,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7348701,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"41","issue":null,"first_page":"6213","last_page":"6228"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.935699999332428,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9261000156402588,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/leverage","display_name":"Leverage (statistics)","score":0.6862999796867371},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.524399995803833},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.46720001101493835},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4560000002384186},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.44769999384880066},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4311999976634979},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4140999913215637},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3776000142097473}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6862999796867371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6057000160217285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6040999889373779},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.550599992275238},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.524399995803833},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.46720001101493835},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4560000002384186},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.44769999384880066},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4311999976634979},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4140999913215637},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3776000142097473},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.3449999988079071},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3434000015258789},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29589998722076416},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.288100004196167},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2831000089645386},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2685999870300293},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2655999958515167},{"id":"https://openalex.org/C8171440","wikidata":"https://www.wikidata.org/wiki/Q903414","display_name":"Steady state (chemistry)","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3620806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3620806","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7112034118","display_name":null,"funder_award_id":"101165078","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W202281819","https://openalex.org/W1515749184","https://openalex.org/W1974032213","https://openalex.org/W1979543088","https://openalex.org/W1986953096","https://openalex.org/W1993992991","https://openalex.org/W1996630649","https://openalex.org/W2013467411","https://openalex.org/W2750248357","https://openalex.org/W2768409770","https://openalex.org/W2782435507","https://openalex.org/W2792260344","https://openalex.org/W2794235589","https://openalex.org/W2805530149","https://openalex.org/W2902699554","https://openalex.org/W2990316883","https://openalex.org/W3010553958","https://openalex.org/W3015303069","https://openalex.org/W3035675914","https://openalex.org/W3091248659","https://openalex.org/W3093886716","https://openalex.org/W3112429835","https://openalex.org/W3118613712","https://openalex.org/W3118994804","https://openalex.org/W3119874910","https://openalex.org/W3133756800","https://openalex.org/W3159812989","https://openalex.org/W3164946289","https://openalex.org/W3187437205","https://openalex.org/W3199951390","https://openalex.org/W3204719635","https://openalex.org/W3207732271","https://openalex.org/W3207921725","https://openalex.org/W4210725839","https://openalex.org/W4224903718","https://openalex.org/W4225121258","https://openalex.org/W4225131125","https://openalex.org/W4246603712","https://openalex.org/W4283314241","https://openalex.org/W4285021310","https://openalex.org/W4285061300","https://openalex.org/W4285119184","https://openalex.org/W4285146587","https://openalex.org/W4286539801","https://openalex.org/W4289690297","https://openalex.org/W4297172738","https://openalex.org/W4312065141","https://openalex.org/W4313598773","https://openalex.org/W4313598874","https://openalex.org/W4313639260","https://openalex.org/W4362653121","https://openalex.org/W4376605563","https://openalex.org/W4382050537","https://openalex.org/W4386025948","https://openalex.org/W4390099696","https://openalex.org/W4390204223","https://openalex.org/W4391097223","https://openalex.org/W4391128579","https://openalex.org/W4391407082","https://openalex.org/W4391582574","https://openalex.org/W4401415878","https://openalex.org/W4405022793","https://openalex.org/W4410204596"],"related_works":[],"abstract_inverted_index":{"Model-based":[0],"manipulation":[1,95],"of":[2,68,85,134,149,162],"deformable":[3,44,70],"objects":[4,9,20,45,71],"has":[5,31],"traditionally":[6],"dealt":[7],"with":[8,157],"while":[10],"neglecting":[11],"their":[12],"dynamics,":[13],"thus":[14],"mostly":[15],"focusing":[16],"on":[17],"very":[18,47],"lightweight":[19],"at":[21,73],"steady":[22,125],"state.":[23,131],"At":[24],"the":[25,94,129,150,159],"same":[26],"time,":[27],"soft":[28,41],"robotic":[29,78],"research":[30],"made":[32],"considerable":[33],"strides":[34],"toward":[35],"general":[36],"modeling":[37],"and":[38,43,92,120,171],"control,":[39],"despite":[40],"robots":[42],"being":[46],"similar":[48],"from":[49],"a":[50,63,77,82,98,107,154,167],"mechanical":[51],"standpoint.":[52],"In":[53],"this":[54,86,135],"work,":[55],"we":[56,114],"leverage":[57],"these":[58],"recent":[59],"results":[60],"to":[61,105,128,139],"develop":[62],"control-oriented,":[64],"fully":[65,108],"dynamic":[66,83],"framework":[67],"slender":[69],"grasped":[72],"one":[74],"end":[75,161],"by":[76],"manipulator.":[79],"We":[80,143],"introduce":[81],"model":[84],"system":[87],"using":[88],"functional":[89],"strain":[90],"parameterizations":[91],"describe":[93],"challenge":[96],"as":[97],"regulation":[99],"control":[100,110],"problem.":[101],"This":[102],"enables":[103],"us":[104],"define":[106],"model-based":[109],"architecture,":[111],"for":[112,124],"which":[113],"can":[115],"prove":[116],"analytically":[117],"closed-loop":[118],"stability":[119],"provide":[121,144],"sufficient":[122],"conditions":[123],"state":[126],"convergence":[127],"desired":[130],"The":[132],"nature":[133],"work":[136],"is":[137],"intended":[138],"be":[140],"markedly":[141],"experimental.":[142],"an":[145],"extensive":[146],"experimental":[147],"validation":[148],"proposed":[151],"ideas,":[152],"tasking":[153],"robot":[155],"arm":[156],"controlling":[158],"distal":[160],"six":[163],"different":[164],"cables,":[165],"in":[166,173],"given":[168],"planar":[169],"position":[170],"orientation":[172],"space.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-14T00:00:00"}