{"id":"https://openalex.org/W3186242457","doi":"https://doi.org/10.23919/acc50511.2021.9483284","title":"Optimal Control of a Soft CyberOctopus Arm","display_name":"Optimal Control of a Soft CyberOctopus Arm","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3186242457","doi":"https://doi.org/10.23919/acc50511.2021.9483284","mag":"3186242457"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9483284","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","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/A5086201027","display_name":"Tixian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tixian Wang","raw_affiliation_strings":["Coordinated Science Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004190839","display_name":"Udit Halder","orcid":"https://orcid.org/0000-0002-7881-2936"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Udit Halder","raw_affiliation_strings":["Coordinated Science Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062498598","display_name":"Heng-Sheng Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heng-Sheng Chang","raw_affiliation_strings":["Coordinated Science Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106466015","display_name":"Mattia Gazzola","orcid":"https://orcid.org/0000-0003-2129-379X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mattia Gazzola","raw_affiliation_strings":["National Center for Supercomputing Applications"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Center for Supercomputing Applications","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081314418","display_name":"Prashant G. Mehta","orcid":"https://orcid.org/0000-0003-1265-7942"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prashant G. Mehta","raw_affiliation_strings":["Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9523,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72237696,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4757","last_page":"4764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9914000034332275,"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/T10882","display_name":"Cardiomyopathy and Myosin Studies","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.7715766429901123},{"id":"https://openalex.org/keywords/octopus","display_name":"octopus (software)","score":0.6194010972976685},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5737553834915161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5194936990737915},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5067058205604553},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46788161993026733},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.432148814201355},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.4232890009880066},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4078353941440582},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37519216537475586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1853947639465332},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1839270293712616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13229447603225708}],"concepts":[{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.7715766429901123},{"id":"https://openalex.org/C2779205690","wikidata":"https://www.wikidata.org/wiki/Q7077081","display_name":"octopus (software)","level":2,"score":0.6194010972976685},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5737553834915161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5194936990737915},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5067058205604553},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46788161993026733},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.432148814201355},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.4232890009880066},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4078353941440582},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37519216537475586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1853947639465332},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1839270293712616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13229447603225708},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9483284","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3972174872","display_name":null,"funder_award_id":"#2019-67021-28989","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4802257077","display_name":null,"funder_award_id":"#1830881","funder_id":"https://openalex.org/F4320337395","funder_display_name":"Division of Emerging Frontiers in Research and Innovation"},{"id":"https://openalex.org/G6610648494","display_name":null,"funder_award_id":"N00014-19-1-2373","funder_id":"https://openalex.org/F4320333591","funder_display_name":"Multidisciplinary University Research Initiative"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320337395","display_name":"Division of Emerging Frontiers in Research and Innovation","ror":"https://ror.org/0388pet74"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1415442047","https://openalex.org/W1562460111","https://openalex.org/W1851172369","https://openalex.org/W1885639605","https://openalex.org/W1956480506","https://openalex.org/W1966685830","https://openalex.org/W1967829443","https://openalex.org/W1980440818","https://openalex.org/W1987474762","https://openalex.org/W1992923590","https://openalex.org/W1996647346","https://openalex.org/W2011562875","https://openalex.org/W2016462314","https://openalex.org/W2017262844","https://openalex.org/W2029776687","https://openalex.org/W2052466744","https://openalex.org/W2059115474","https://openalex.org/W2065213714","https://openalex.org/W2065813577","https://openalex.org/W2067039683","https://openalex.org/W2070267857","https://openalex.org/W2102884619","https://openalex.org/W2103284380","https://openalex.org/W2129872155","https://openalex.org/W2146719181","https://openalex.org/W2159791355","https://openalex.org/W2164418635","https://openalex.org/W2164636472","https://openalex.org/W2294846656","https://openalex.org/W2323178299","https://openalex.org/W2325401941","https://openalex.org/W2600604505","https://openalex.org/W2807959585","https://openalex.org/W2962276988","https://openalex.org/W2981873382","https://openalex.org/W3118613712","https://openalex.org/W3133933269","https://openalex.org/W4292993127","https://openalex.org/W6684340395","https://openalex.org/W6776230354"],"related_works":["https://openalex.org/W3092465102","https://openalex.org/W2002595366","https://openalex.org/W2525321787","https://openalex.org/W3180040367","https://openalex.org/W2961534621","https://openalex.org/W1965046275","https://openalex.org/W585380317","https://openalex.org/W2332484965","https://openalex.org/W2905682767","https://openalex.org/W2005318592"],"abstract_inverted_index":{"In":[0],"this":[1,105,111],"paper,":[2],"we":[3,49],"use":[4],"the":[5,43,67,71,76,134],"optimal":[6,52,100,142],"control":[7,10,64,101,143,148],"methodology":[8],"to":[9,110],"a":[11,30,62,129,138],"flexible,":[12],"elastic":[13],"Cosserat":[14,77],"rod.":[15],"An":[16],"inspiration":[17],"comes":[18],"from":[19],"stereotypical":[20],"movement":[21],"patterns":[22],"in":[23,29,128],"octopus":[24,57],"arms,":[25],"which":[26],"are":[27,87,96,113,126,150],"observed":[28,47,157],"variety":[31],"of":[32,70,141],"manipulation":[33],"tasks,":[34],"such":[35],"as":[36,61,89],"reaching":[37],"or":[38],"fetching.":[39],"To":[40],"help":[41],"uncover":[42],"mechanisms":[44],"underlying":[45],"these":[46],"morphologies,":[48],"outline":[50],"an":[51,99,117],"control-based":[53],"framework.":[54],"A":[55],"single":[56],"arm":[58,72],"is":[59,73],"modeled":[60,74],"Hamiltonian":[63],"system,":[65],"where":[66],"continuum":[68],"mechanics":[69],"after":[75],"rod":[78],"theory,":[79],"and":[80,85,123,152],"internal,":[81],"distributed":[82],"muscle":[83],"forces":[84],"couples":[86],"considered":[88],"controls.":[90],"First":[91],"order":[92],"necessary":[93],"optimality":[94],"conditions":[95],"derived":[97],"for":[98,104,136],"problem":[102,112],"formulated":[103],"infinite":[106],"dimensional":[107],"system.":[108],"Solutions":[109],"obtained":[114],"numerically":[115],"by":[116],"iterative":[118],"forward-backward":[119],"algorithm.":[120],"The":[121],"state":[122],"adjoint":[124],"equations":[125],"solved":[127],"dynamic":[130],"simulation":[131],"environment,":[132],"setting":[133],"stage":[135],"studying":[137],"broader":[139],"class":[140],"problems.":[144],"Trajectories":[145],"that":[146],"minimize":[147],"effort":[149],"demonstrated":[151],"qualitatively":[153],"compared":[154],"with":[155],"experimentally":[156],"behaviors.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}