{"id":"https://openalex.org/W4396705248","doi":"https://doi.org/10.1515/auto-2023-0237","title":"Gaussian process-based nonlinearity compensation for pneumatic soft actuators","display_name":"Gaussian process-based nonlinearity compensation for pneumatic soft actuators","publication_year":2024,"publication_date":"2024-05-01","ids":{"openalex":"https://openalex.org/W4396705248","doi":"https://doi.org/10.1515/auto-2023-0237"},"language":"en","primary_location":{"id":"doi:10.1515/auto-2023-0237","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2023-0237","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","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/A5096746083","display_name":"Alexander Pawluchin","orcid":"https://orcid.org/0009-0000-0076-5239"},"institutions":[{"id":"https://openalex.org/I129643931","display_name":"Berliner Hochschule f\u00fcr Technik","ror":"https://ror.org/00w7whj55","country_code":"DE","type":"education","lineage":["https://openalex.org/I129643931"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alexander Pawluchin","raw_affiliation_strings":["Department VII \u2013 Humanoid Robotics , Berlin University of Applied Sciences , Luxemburger Stra\u00dfe 10, 13353 Berlin , Germany"],"raw_orcid":"https://orcid.org/0009-0000-0076-5239","affiliations":[{"raw_affiliation_string":"Department VII \u2013 Humanoid Robotics , Berlin University of Applied Sciences , Luxemburger Stra\u00dfe 10, 13353 Berlin , Germany","institution_ids":["https://openalex.org/I129643931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054511095","display_name":"Michael Meindl","orcid":"https://orcid.org/0000-0002-3937-6350"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Meindl","raw_affiliation_strings":["Institute of Mechatronic Systems (imes) , Leibniz University Hannover (LUH), An der Universit\u00e4t 1, 30823 Hannover , Garbsen , Germany"],"raw_orcid":"https://orcid.org/0000-0002-3937-6350","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems (imes) , Leibniz University Hannover (LUH), An der Universit\u00e4t 1, 30823 Hannover , Garbsen , Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059167880","display_name":"Ive Weygers","orcid":"https://orcid.org/0000-0001-9858-1293"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ive Weygers","raw_affiliation_strings":["Department Artificial Intelligence in Biomedical Engineering , FAU Erlangen-N\u00fcrnberg , Werner-von-Siemens-Stra\u00dfe 61, 91052 Erlangen , Germany"],"raw_orcid":"https://orcid.org/0000-0001-9858-1293","affiliations":[{"raw_affiliation_string":"Department Artificial Intelligence in Biomedical Engineering , FAU Erlangen-N\u00fcrnberg , Werner-von-Siemens-Stra\u00dfe 61, 91052 Erlangen , Germany","institution_ids":["https://openalex.org/I181369854","https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039578386","display_name":"Thomas Seel","orcid":"https://orcid.org/0000-0002-6920-1690"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Seel","raw_affiliation_strings":["Institute of Mechatronic Systems (imes) , Leibniz University Hannover (LUH), An der Universit\u00e4t 1, 30823 Hannover , Garbsen , Germany"],"raw_orcid":"https://orcid.org/0000-0002-6920-1690","affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems (imes) , Leibniz University Hannover (LUH), An der Universit\u00e4t 1, 30823 Hannover , Garbsen , Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062617350","display_name":"Ivo Boblan","orcid":"https://orcid.org/0000-0001-5568-8795"},"institutions":[{"id":"https://openalex.org/I129643931","display_name":"Berliner Hochschule f\u00fcr Technik","ror":"https://ror.org/00w7whj55","country_code":"DE","type":"education","lineage":["https://openalex.org/I129643931"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ivo Boblan","raw_affiliation_strings":["Department VII \u2013 Humanoid Robotics , Berlin University of Applied Sciences , Luxemburger Stra\u00dfe 10, 13353 Berlin , Germany"],"raw_orcid":"https://orcid.org/0000-0001-5568-8795","affiliations":[{"raw_affiliation_string":"Department VII \u2013 Humanoid Robotics , Berlin University of Applied Sciences , Luxemburger Stra\u00dfe 10, 13353 Berlin , Germany","institution_ids":["https://openalex.org/I129643931"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5096746083"],"corresponding_institution_ids":["https://openalex.org/I129643931"],"apc_list":null,"apc_paid":null,"fwci":0.168,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42740055,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"72","issue":"5","first_page":"440","last_page":"448"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9890000224113464,"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/feed-forward","display_name":"Feed forward","score":0.7326074838638306},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6960166692733765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6465059518814087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6410934925079346},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.571186900138855},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5642340183258057},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5469926595687866},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5361611247062683},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5015385150909424},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.46958795189857483},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4650375247001648},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4472792148590088},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4421558678150177},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.36898350715637207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33510923385620117},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27047157287597656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23018640279769897}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7326074838638306},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6960166692733765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6465059518814087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6410934925079346},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.571186900138855},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5642340183258057},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5469926595687866},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5361611247062683},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5015385150909424},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.46958795189857483},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4650375247001648},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4472792148590088},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4421558678150177},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.36898350715637207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33510923385620117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27047157287597656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23018640279769897},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1515/auto-2023-0237","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2023-0237","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1976269466","https://openalex.org/W1997543377","https://openalex.org/W2184993170","https://openalex.org/W2187770034","https://openalex.org/W2615167078","https://openalex.org/W2618733545","https://openalex.org/W2772337275","https://openalex.org/W2782435507","https://openalex.org/W2843252114","https://openalex.org/W2938361870","https://openalex.org/W2999325808","https://openalex.org/W3010728311","https://openalex.org/W3088555471","https://openalex.org/W3180753434","https://openalex.org/W3204719635","https://openalex.org/W4211049957","https://openalex.org/W4285089416","https://openalex.org/W4376605646","https://openalex.org/W4387150524"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559","https://openalex.org/W2007570603","https://openalex.org/W2808224918","https://openalex.org/W2773679836"],"abstract_inverted_index":{"Abstract":[0],"Highly":[1],"compliant":[2],"Pneumatic":[3],"Soft":[4],"Actuators":[5],"(PSAs)":[6],"have":[7],"the":[8,77,97,104,148],"potential":[9],"to":[10,55,75,95,101],"perform":[11],"challenging":[12],"tasks":[13],"in":[14,62,106,127,151],"a":[15,50,67,72,85,107],"broad":[16],"range":[17],"of":[18,143],"applications":[19],"that":[20],"require":[21],"shape-adaptive":[22],"capabilities.":[23],"Achieving":[24],"accurate":[25,116],"tracking":[26,58,117],"control":[27,53,99,113],"for":[28,103],"such":[29,124],"actuators":[30],"with":[31,139],"complex":[32],"geometries":[33],"and":[34,41,129],"material":[35],"compositions":[36],"typically":[37],"involves":[38],"many":[39],"time-consuming":[40],"laborious":[42],"engineering":[43],"steps.":[44],"In":[45],"this":[46],"work,":[47],"we":[48,89],"propose":[49],"data-driven":[51],"learning-based":[52],"approach":[54,114],"address":[56],"reference":[57],"tasks,":[59],"incorporating":[60],"self-adaptation":[61],"situ":[63],".":[64],"We":[65],"utilize":[66],"short":[68],"interaction":[69],"maneuver,":[70],"recorded":[71],"priori":[73],",":[74],"collect":[76],"quasi-static":[78],"data":[79],"affected":[80],"by":[81],"severe":[82],"hysteresis.":[83],"Besides":[84],"linear":[86],"feedback":[87],"controller,":[88],"use":[90],"two":[91],"Gaussian":[92],"process":[93],"models":[94],"predict":[96],"feedforward":[98],"input":[100],"compensate":[102],"nonlinearity":[105],"one-shot":[108],"learning":[109],"setting.":[110],"The":[111],"proposed":[112],"demonstrates":[115],"performance":[118],"even":[119],"under":[120],"realistic":[121],"varying":[122],"configurations,":[123],"as":[125],"alterations":[126],"mass":[128],"orientation,":[130],"without":[131],"any":[132],"parameter":[133],"tuning.":[134],"Notably,":[135],"training":[136],"was":[137],"achieved":[138],"only":[140],"25\u201350":[141],"s":[142],"experimental":[144],"interaction,":[145],"which":[146],"emphasizes":[147],"plug-and-play":[149],"capabilities":[150],"diverse":[152],"real-world":[153],"applications.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}