{"id":"https://openalex.org/W4376456461","doi":"https://doi.org/10.1109/tro.2023.3269347","title":"Model-Free 3-D Shape Control of Deformable Objects Using Novel Features Based on Modal Analysis","display_name":"Model-Free 3-D Shape Control of Deformable Objects Using Novel Features Based on Modal Analysis","publication_year":2023,"publication_date":"2023-05-11","ids":{"openalex":"https://openalex.org/W4376456461","doi":"https://doi.org/10.1109/tro.2023.3269347"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3269347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3269347","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5044428794","display_name":"Bohan Yang","orcid":"https://orcid.org/0000-0002-5305-7591"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bohan Yang","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-5305-7591","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046214073","display_name":"Bo Lu","orcid":"https://orcid.org/0000-0002-2858-1121"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Bo Lu","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China","Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2858-1121","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041869772","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0002-9065-3771"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-9065-3771","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010124359","display_name":"Fangxun Zhong","orcid":"https://orcid.org/0000-0002-1151-1995"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fangxun Zhong","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-1151-1995","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-3625-6679","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0976,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.91631354,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"39","issue":"4","first_page":"3134","last_page":"3153"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980999827384949,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7927892208099365},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6465229988098145},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5622239112854004},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5503605008125305},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5433439016342163},{"id":"https://openalex.org/keywords/modal-analysis","display_name":"Modal analysis","score":0.5364170074462891},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5294449329376221},{"id":"https://openalex.org/keywords/free-form-deformation","display_name":"Free-form deformation","score":0.5043865442276001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4655023217201233},{"id":"https://openalex.org/keywords/modal-analysis-using-fem","display_name":"Modal analysis using FEM","score":0.4501603841781616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4270251989364624},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.33192116022109985},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32956260442733765},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3235151469707489},{"id":"https://openalex.org/keywords/modal-testing","display_name":"Modal testing","score":0.26420000195503235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22246479988098145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20718619227409363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15152454376220703},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.14411357045173645},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09550347924232483},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08003315329551697}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7927892208099365},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6465229988098145},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5622239112854004},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5503605008125305},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5433439016342163},{"id":"https://openalex.org/C104286136","wikidata":"https://www.wikidata.org/wiki/Q1416137","display_name":"Modal analysis","level":3,"score":0.5364170074462891},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5294449329376221},{"id":"https://openalex.org/C2780391921","wikidata":"https://www.wikidata.org/wiki/Q1454193","display_name":"Free-form deformation","level":3,"score":0.5043865442276001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4655023217201233},{"id":"https://openalex.org/C178736951","wikidata":"https://www.wikidata.org/wiki/Q3780658","display_name":"Modal analysis using FEM","level":5,"score":0.4501603841781616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4270251989364624},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.33192116022109985},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32956260442733765},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3235151469707489},{"id":"https://openalex.org/C200239387","wikidata":"https://www.wikidata.org/wiki/Q17143727","display_name":"Modal testing","level":4,"score":0.26420000195503235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22246479988098145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20718619227409363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15152454376220703},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.14411357045173645},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09550347924232483},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08003315329551697},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"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/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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":1,"locations":[{"id":"doi:10.1109/tro.2023.3269347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3269347","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W131980810","https://openalex.org/W1482492314","https://openalex.org/W1487127700","https://openalex.org/W1514444483","https://openalex.org/W1573186872","https://openalex.org/W1622593589","https://openalex.org/W1657388907","https://openalex.org/W1823791555","https://openalex.org/W1968439442","https://openalex.org/W1969865247","https://openalex.org/W1986737903","https://openalex.org/W1986953096","https://openalex.org/W1995851149","https://openalex.org/W1997396833","https://openalex.org/W2002436811","https://openalex.org/W2005781236","https://openalex.org/W2016143963","https://openalex.org/W2037323396","https://openalex.org/W2044233231","https://openalex.org/W2052669679","https://openalex.org/W2061490590","https://openalex.org/W2075605912","https://openalex.org/W2083483041","https://openalex.org/W2107198582","https://openalex.org/W2113520545","https://openalex.org/W2114078951","https://openalex.org/W2118965847","https://openalex.org/W2123564600","https://openalex.org/W2124442589","https://openalex.org/W2130208515","https://openalex.org/W2130771648","https://openalex.org/W2132396702","https://openalex.org/W2136762207","https://openalex.org/W2156611301","https://openalex.org/W2163403935","https://openalex.org/W2164361535","https://openalex.org/W2178278515","https://openalex.org/W2209295589","https://openalex.org/W2248463013","https://openalex.org/W2322971354","https://openalex.org/W2735636344","https://openalex.org/W2768409770","https://openalex.org/W2789411136","https://openalex.org/W2808405904","https://openalex.org/W2891333381","https://openalex.org/W2897005597","https://openalex.org/W2901496726","https://openalex.org/W2913140248","https://openalex.org/W2918665764","https://openalex.org/W2940581269","https://openalex.org/W2963265239","https://openalex.org/W3007084397","https://openalex.org/W3010553958","https://openalex.org/W3017323728","https://openalex.org/W3049266637","https://openalex.org/W3091248659","https://openalex.org/W3102313808","https://openalex.org/W3170278846","https://openalex.org/W3197120694","https://openalex.org/W3199951390","https://openalex.org/W4210725839","https://openalex.org/W4236288244","https://openalex.org/W4246840991","https://openalex.org/W4251022273","https://openalex.org/W4280511593","https://openalex.org/W6636325060","https://openalex.org/W6638668618","https://openalex.org/W6782067729"],"related_works":["https://openalex.org/W2357425879","https://openalex.org/W3095660817","https://openalex.org/W2003209798","https://openalex.org/W3165424697","https://openalex.org/W3014564585","https://openalex.org/W2388589300","https://openalex.org/W2088447391","https://openalex.org/W101843617","https://openalex.org/W4321484763","https://openalex.org/W2112033530"],"abstract_inverted_index":{"Shape":[0],"control":[1,66],"of":[2,85,103,116,177],"deformable":[3],"objects":[4,165],"is":[5,53,67],"a":[6,15,74],"challenging":[7],"and":[8,59,113,156,163],"important":[9],"robotic":[10,64],"problem.":[11],"This":[12],"article":[13],"proposes":[14],"model-free":[16,76],"controller":[17,36,138],"using":[18,32,160],"novel":[19],"3-D":[20],"global":[21,45],"deformation":[22,40,46,65,81,94],"features":[23,41],"based":[24,39],"on":[25],"modal":[26,51,105,123,153],"analysis.":[27],"Unlike":[28],"most":[29],"existing":[30],"controllers":[31],"geometric":[33,112],"features,":[34],"our":[35,178],"employs":[37],"physically":[38],"designed":[42,144],"by":[43],"decoupling":[44],"into":[47],"low-frequency":[48],"modes.":[49],"Although":[50],"analysis":[52],"widely":[54],"adopted":[55],"in":[56,63],"computer":[57],"vision":[58],"simulation,":[60],"its":[61,183],"usage":[62],"still":[68],"an":[69,92,136],"open":[70],"topic.":[71],"We":[72],"develop":[73],"new":[75],"framework":[77],"for":[78],"the":[79,86,98,104,108,117,132,147,152,174,186],"modal-based":[80],"control.":[82],"Physical":[83],"interpretation":[84],"modes":[87],"enables":[88],"us":[89],"to":[90,129,145],"formulate":[91],"analytical":[93],"Jacobian":[95,109],"matrix":[96],"mapping":[97],"robot":[99],"manipulation":[100],"onto":[101],"changes":[102],"features.":[106],"In":[107],"matrix,":[110],"unknown":[111],"physical":[114],"models":[115],"object":[118,148],"are":[119,158],"treated":[120],"as":[121],"low-dimensional":[122],"parameters,":[124],"which":[125],"can":[126,142],"be":[127,143],"used":[128],"linearly":[130],"parameterize":[131],"closed-loop":[133],"system.":[134],"Thus,":[135],"adaptive":[137],"with":[139],"proven":[140],"stability":[141],"deform":[146],"while":[149],"online":[150],"estimating":[151],"parameters.":[154],"Simulations":[155],"experiments":[157],"conducted":[159],"linear,":[161],"planar,":[162],"volumetric":[164],"under":[166],"different":[167],"settings.":[168],"The":[169],"results":[170],"not":[171],"only":[172],"confirm":[173],"superior":[175],"performance":[176],"controller,":[179],"but":[180],"also":[181],"demonstrate":[182],"advantages":[184],"over":[185],"baseline":[187],"method.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}