{"id":"https://openalex.org/W2892159784","doi":"https://doi.org/10.1109/vss.2018.8460324","title":"Robust Control of Tendon Driven Continuum Robots","display_name":"Robust Control of Tendon Driven Continuum Robots","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2892159784","doi":"https://doi.org/10.1109/vss.2018.8460324","mag":"2892159784"},"language":"en","primary_location":{"id":"doi:10.1109/vss.2018.8460324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss.2018.8460324","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Robust_control_of_tendon_driven_continuum_robots/20790088","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070095397","display_name":"Ahmad A. Mousa","orcid":"https://orcid.org/0000-0003-4256-2055"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Ahmad Mousa","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081405027","display_name":"Suiyang Khoo","orcid":"https://orcid.org/0000-0003-0455-2710"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Suiyang Khoo","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066193875","display_name":"Michael Norton","orcid":"https://orcid.org/0000-0002-6925-1751"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Norton","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070095397"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":0.4457,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.62095303,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"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":0.9998000264167786,"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":0.9998000264167786,"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/T10892","display_name":"Drilling and Well Engineering","score":0.9606000185012817,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9544000029563904,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.668147087097168},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6345185041427612},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6095613837242126},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6059832572937012},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5726214647293091},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5680578351020813},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5239582061767578},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.521374523639679},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4761383831501007},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4341665506362915},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4253653585910797},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32489439845085144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22767990827560425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18483388423919678},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1265506148338318},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08294153213500977}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.668147087097168},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6345185041427612},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6095613837242126},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6059832572937012},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5726214647293091},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5680578351020813},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5239582061767578},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.521374523639679},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4761383831501007},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4341665506362915},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4253653585910797},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32489439845085144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22767990827560425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18483388423919678},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1265506148338318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08294153213500977},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/vss.2018.8460324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss.2018.8460324","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"},{"id":"pmh:oai:dro.deakin.edu.au:DU:30118060","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401102","display_name":"Own your potential (DEAKIN)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149704539","host_organization_name":"Deakin University","host_organization_lineage":["https://openalex.org/I149704539"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"},{"id":"pmh:oai:figshare.com:article/20790088","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Robust_control_of_tendon_driven_continuum_robots/20790088","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/20790088","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Robust_control_of_tendon_driven_continuum_robots/20790088","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W167360520","https://openalex.org/W1570924281","https://openalex.org/W1925606516","https://openalex.org/W1970557511","https://openalex.org/W1988003703","https://openalex.org/W1997060717","https://openalex.org/W1999914576","https://openalex.org/W2001803686","https://openalex.org/W2014297362","https://openalex.org/W2053614949","https://openalex.org/W2073677587","https://openalex.org/W2082043116","https://openalex.org/W2097670366","https://openalex.org/W2099355316","https://openalex.org/W2101667962","https://openalex.org/W2119343887","https://openalex.org/W2122628132","https://openalex.org/W2133231729","https://openalex.org/W2135275888","https://openalex.org/W2157540237","https://openalex.org/W2160825462","https://openalex.org/W2187770034","https://openalex.org/W2290735684","https://openalex.org/W2318613964","https://openalex.org/W2406410409","https://openalex.org/W2414073787","https://openalex.org/W2512635237","https://openalex.org/W2527071631","https://openalex.org/W2592086820","https://openalex.org/W2626071037","https://openalex.org/W2920970180","https://openalex.org/W4244000364","https://openalex.org/W6713399122"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W4245435724","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W1980376593","https://openalex.org/W2123479323"],"abstract_inverted_index":{"In":[0,131],"this":[1,39,132],"paper":[2],"we":[3,80,134],"introduce":[4],"the":[5,45,75,82,103,136,148,153,171,180,189,192],"first":[6],"robust":[7,116,157],"control":[8,34,61,117,129,154,174],"for":[9,58,126],"tendon":[10],"drevin":[11],"continuum":[12],"robots":[13,27,76],"that":[14,52,69,93],"are":[15,28,53,185],"modelled":[16],"by":[17,41,84,140],"Cosserat":[18,91],"Rod":[19,92],"theory.":[20],"Constituted":[21],"from":[22,96],"deformable":[23],"elastic":[24],"backbones,":[25],"Continuum":[26],"highly":[29],"nonlinear":[30],"and":[31,56,99],"complex.":[32],"Current":[33],"approaches":[35,67],"tend":[36],"to":[37,44,49,124,187],"overcome":[38,81],"obstacle":[40],"adopting":[42],"assumptions":[43,73,98],"robot's":[46],"structure":[47],"aiming":[48],"develop":[50],"models":[51],"both":[54],"accurate":[55],"applicable":[57],"real":[59,127],"time":[60,128],"applications.":[62,130],"The":[63],"drawback":[64],"of":[65,101,191],"such":[66],"is":[68,94,159,177],"maintaining":[70],"those":[71,97],"modelling":[72],"restricts":[74],"expected":[77],"performance.":[78],"Here,":[79],"drawbacks":[83],"utilizing":[85],"a":[86,142,156],"dynamic":[87],"model":[88,109],"based":[89,161],"on":[90,162],"free":[95],"capable":[100],"accommodating":[102],"backbone":[104],"general":[105,108],"deformations.":[106],"This":[107],"has":[110],"not":[111],"been":[112,113],"used":[114],"in":[115,170,179],"design":[118,181],"before":[119],"as":[120,147],"its":[121],"computationally":[122],"expensive":[123,137],"simulate":[125],"paper,":[133],"solved":[135],"computation":[138],"problem":[139],"employing":[141],"sophisticated":[143],"numerical":[144],"method":[145],"known":[146],"Generalized-":[149],"\u03b1":[150],"method.":[151],"For":[152],"part,":[155],"controller":[158],"designed":[160,194],"sliding":[163],"mode":[164],"control.":[165],"To":[166],"avoid":[167],"drastic":[168],"changes":[169],"actuating":[172],"tension,":[173],"input":[175],"saturation":[176],"considered":[178],"process.":[182],"Simulation":[183],"examples":[184],"included":[186],"verify":[188],"effectiveness":[190],"proposed":[193],"scheme.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}