{"id":"https://openalex.org/W4382936100","doi":"https://doi.org/10.23919/acc55779.2023.10156049","title":"Simultaneous Motion and Stiffness Control for Soft Pneumatic Manipulators based on a Lagrangian-based Dynamic Model","display_name":"Simultaneous Motion and Stiffness Control for Soft Pneumatic Manipulators based on a Lagrangian-based Dynamic Model","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382936100","doi":"https://doi.org/10.23919/acc55779.2023.10156049"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156049","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5050432951","display_name":"Yu Mei","orcid":"https://orcid.org/0009-0009-2424-2219"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Mei","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068453318","display_name":"Preston Fairchild","orcid":"https://orcid.org/0009-0002-8498-1506"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Preston Fairchild","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085821818","display_name":"Vaibhav Srivastava","orcid":"https://orcid.org/0000-0002-9786-0159"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vaibhav Srivastava","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032699206","display_name":"Changyong Cao","orcid":"https://orcid.org/0000-0001-5067-1716"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changyong Cao","raw_affiliation_strings":["Case Western Reserve University,Department of Mechanical & Aerospace Engineering,Cleveland,OH,USA,44106"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Case Western Reserve University,Department of Mechanical & Aerospace Engineering,Cleveland,OH,USA,44106","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088360388","display_name":"Xiaobo Tan","orcid":"https://orcid.org/0000-0002-5542-6266"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobo Tan","raw_affiliation_strings":["Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Michigan State University,Department of Electrical and Computer Engineering,East Lansing,MI,USA,48823","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2315,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96488286,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"145","last_page":"152"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.984499990940094,"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":0.9840999841690063,"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/control-theory","display_name":"Control theory (sociology)","score":0.8154820203781128},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.612609326839447},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.513372540473938},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4774099588394165},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.44439995288848877},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.41842120885849},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39874181151390076},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.35053426027297974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3243027329444885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2918587923049927},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18225431442260742},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15191563963890076},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08984646201133728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0835108757019043}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8154820203781128},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.612609326839447},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.513372540473938},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4774099588394165},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.44439995288848877},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.41842120885849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39874181151390076},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.35053426027297974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3243027329444885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2918587923049927},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18225431442260742},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15191563963890076},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08984646201133728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0835108757019043},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156049","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1999914576","https://openalex.org/W2001803686","https://openalex.org/W2015106839","https://openalex.org/W2036723211","https://openalex.org/W2054427316","https://openalex.org/W2054628872","https://openalex.org/W2101667962","https://openalex.org/W2333868129","https://openalex.org/W2410712669","https://openalex.org/W2510278122","https://openalex.org/W2520982900","https://openalex.org/W2577404187","https://openalex.org/W2739636222","https://openalex.org/W2745494968","https://openalex.org/W2775361682","https://openalex.org/W2913017878","https://openalex.org/W2921399728","https://openalex.org/W2947094677","https://openalex.org/W2991460789","https://openalex.org/W2999072533","https://openalex.org/W3000160985","https://openalex.org/W3020927757","https://openalex.org/W3092868804","https://openalex.org/W3138075616","https://openalex.org/W3155716052","https://openalex.org/W3183945790","https://openalex.org/W3217056046","https://openalex.org/W4200428696","https://openalex.org/W4285102186","https://openalex.org/W4313164853"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W1990079087","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W3202234113","https://openalex.org/W2320550378","https://openalex.org/W2101188133","https://openalex.org/W4372347353","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"A":[0,113],"soft":[1,36,67],"continuum":[2],"manipulator":[3],"with":[4,79],"tunable":[5],"stiffness":[6,109,138],"can":[7],"not":[8],"only":[9],"take":[10],"advantage":[11],"of":[12,26,35,60,90,154],"high":[13,33],"compliance":[14],"for":[15,66,84,134],"safe":[16],"adaptation":[17],"in":[18,123],"unknown":[19],"environments,":[20],"but":[21],"also":[22],"circumvent":[23],"the":[24,39,88,91,108,111,124,131,152,155],"drawbacks":[25],"instability":[27],"and":[28,38,44,62,110,127,137,142],"low":[29],"loading":[30],"capability.":[31],"The":[32],"nonlinearity":[34],"manipulators":[37],"strong":[40],"coupling":[41],"between":[42],"actuation":[43,61],"stiffness-tuning":[45,63],"make":[46],"their":[47],"simultaneous":[48,58,135],"control":[49,59,85,117,139],"challenging.":[50],"In":[51],"this":[52],"work,":[53],"a":[54,71,75],"novel":[55],"approach":[56],"to":[57,103,130,150],"is":[64,82,94,101,120],"proposed":[65,102,156],"pneumatic":[68],"manipulators.":[69],"With":[70],"piecewise-constant":[72],"curvature":[73],"assumption,":[74],"Lagrangian-based":[76],"dynamic":[77],"model":[78,115],"realistic":[80],"approximation":[81],"used":[83],"design,":[86],"where":[87],"dynamics":[89],"stiffness-tunable":[92],"mechanism":[93],"incorporated.":[95],"An":[96],"extended":[97,129],"Kalman":[98],"filter":[99],"(EKF)":[100],"estimate":[104],"unmeasurable":[105],"states":[106],"including":[107],"velocity.":[112],"nonlinear":[114],"predictive":[116],"(NMPC)":[118],"framework":[119],"developed":[121],"first":[122],"configuration":[125],"space,":[126,133],"then":[128],"task":[132],"motion":[136],"under":[140],"inflation":[141],"vacuum":[143],"pressure":[144],"constraints.":[145],"Simulation":[146],"results":[147],"are":[148],"presented":[149],"support":[151],"efficacy":[153],"approach.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}