{"id":"https://openalex.org/W4386423731","doi":"https://doi.org/10.3390/robotics12050126","title":"Dual-Loop Control of Cable-Driven Snake-like Robots","display_name":"Dual-Loop Control of Cable-Driven Snake-like Robots","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4386423731","doi":"https://doi.org/10.3390/robotics12050126"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12050126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050126","pdf_url":"https://www.mdpi.com/2218-6581/12/5/126/pdf?version=1693835643","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/5/126/pdf?version=1693835643","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055002666","display_name":"Xiantong Xu","orcid":"https://orcid.org/0000-0002-3802-7204"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiantong Xu","raw_affiliation_strings":["State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;"],"raw_orcid":"https://orcid.org/0000-0002-3802-7204","affiliations":[{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036400252","display_name":"Cheng-Zhen Wang","orcid":"https://orcid.org/0000-0002-1383-2354"},"institutions":[{"id":"https://openalex.org/I4210135994","display_name":"China Railway Group (China)","ror":"https://ror.org/03za3eq42","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135994"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhen Wang","raw_affiliation_strings":["China Railway Engineering Equipment Group Co., Zhengzhou 450016, China","State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Railway Engineering Equipment Group Co., Zhengzhou 450016, China","institution_ids":["https://openalex.org/I4210135994"]},{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078018015","display_name":"Haibo Xie","orcid":"https://orcid.org/0000-0003-0977-8719"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haibo Xie","raw_affiliation_strings":["State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115602039","display_name":"Cheng Wang","orcid":"https://orcid.org/0000-0002-1549-3237"},"institutions":[{"id":"https://openalex.org/I4210135994","display_name":"China Railway Group (China)","ror":"https://ror.org/03za3eq42","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135994"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Wang","raw_affiliation_strings":["China Railway Engineering Equipment Group Co., Zhengzhou 450016, China","State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Railway Engineering Equipment Group Co., Zhengzhou 450016, China","institution_ids":["https://openalex.org/I4210135994"]},{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017718826","display_name":"Huayong Yang","orcid":"https://orcid.org/0000-0002-3578-5819"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huayong Yang","raw_affiliation_strings":["State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5078018015"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.2146,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.47797111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"12","issue":"5","first_page":"126","last_page":"126"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.988099992275238,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6742153167724609},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6655296087265015},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6292770504951477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6256849765777588},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.583023190498352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48660480976104736},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4771846532821655},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4514252245426178},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4414987564086914},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.44065096974372864},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.43937546014785767},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4329526424407959},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4298722445964813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3650328516960144},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2863927483558655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2592344284057617},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1655573844909668},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0961107611656189},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08182725310325623}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6742153167724609},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6655296087265015},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6292770504951477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6256849765777588},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.583023190498352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48660480976104736},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4771846532821655},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4514252245426178},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4414987564086914},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44065096974372864},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.43937546014785767},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4329526424407959},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4298722445964813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3650328516960144},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2863927483558655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2592344284057617},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1655573844909668},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0961107611656189},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08182725310325623},{"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12050126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050126","pdf_url":"https://www.mdpi.com/2218-6581/12/5/126/pdf?version=1693835643","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:54b32289a98c4633a2e808afd9a56b18","is_oa":true,"landing_page_url":"https://doaj.org/article/54b32289a98c4633a2e808afd9a56b18","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 5, p 126 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/5/126/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12050126","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12050126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050126","pdf_url":"https://www.mdpi.com/2218-6581/12/5/126/pdf?version=1693835643","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G306799004","display_name":null,"funder_award_id":"2022YFC3802300","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6553610193","display_name":null,"funder_award_id":"226-2022-00016","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6570168710","display_name":null,"funder_award_id":"SKLoFP_ZZ_2106","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4386423731.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W1529218112","https://openalex.org/W1842017619","https://openalex.org/W1973373088","https://openalex.org/W1976270646","https://openalex.org/W1993073014","https://openalex.org/W1993836827","https://openalex.org/W1999165127","https://openalex.org/W2014036400","https://openalex.org/W2050283320","https://openalex.org/W2063766951","https://openalex.org/W2063797945","https://openalex.org/W2064043586","https://openalex.org/W2099137201","https://openalex.org/W2137670317","https://openalex.org/W2149028311","https://openalex.org/W2170836916","https://openalex.org/W2184993170","https://openalex.org/W2187770034","https://openalex.org/W2328731921","https://openalex.org/W2793556869","https://openalex.org/W2806185962","https://openalex.org/W2909846099","https://openalex.org/W2921397506","https://openalex.org/W2977305686","https://openalex.org/W3003845873","https://openalex.org/W3046983221","https://openalex.org/W3135927915","https://openalex.org/W3139269452","https://openalex.org/W4366377590","https://openalex.org/W4386212372","https://openalex.org/W6650455987"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W2731862817","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W339676884","https://openalex.org/W2607470227","https://openalex.org/W2291700020"],"abstract_inverted_index":{"Snake-like":[0],"robots,":[1],"which":[2,84,110],"have":[3],"high":[4,160],"degrees":[5],"of":[6,65,134,167],"freedom":[7],"and":[8,20,55,87,93,103,138,144,154,162,170],"flexibility,":[9],"can":[10],"effectively":[11],"perform":[12],"an":[13],"obstacle":[14],"avoidance":[15],"motion":[16,136],"in":[17,98],"a":[18,80,113],"narrow":[19],"unstructured":[21],"space":[22],"to":[23,33,46,112],"complete":[24],"assignments":[25],"efficiently.":[26],"However,":[27],"accurate":[28],"closed-loop":[29,74],"control":[30,75,141,156],"is":[31,40,85,96,108],"difficult":[32],"achieve.":[34],"On":[35,57],"the":[36,47,58,61,66,71,120,123,132,135,151,165],"one":[37],"hand,":[38,60],"this":[39,99,129],"because":[41],"adding":[42],"too":[43],"many":[44],"sensors":[45],"robot":[48,68],"will":[49],"significantly":[50],"increase":[51],"its":[52],"mass,":[53],"size,":[54],"cost.":[56],"other":[59],"more":[62,72,104],"complex":[63],"structure":[64,153],"hyper-redundant":[67],"also":[69],"challenges":[70],"elaborate":[73],"strategy.":[76],"For":[77],"these":[78],"reasons,":[79],"cable-driven":[81],"snake-like":[82],"robot,":[83],"compact":[86],"low":[88],"cost,":[89],"with":[90,159],"force":[91],"transducers":[92],"angle":[94],"sensors,":[95],"designed":[97],"article.":[100],"The":[101,146],"simpler":[102],"direct":[105],"kinematic":[106,121],"model":[107],"studied,":[109],"applies":[111],"widely":[114],"used":[115],"kinematics":[116],"algorithm.":[117],"Based":[118],"on":[119],"model,":[122],"inverse":[124],"dynamics":[125],"are":[126],"resolved.":[127],"Finally,":[128],"article":[130],"analyzes":[131],"sources":[133],"errors":[137],"achieves":[139],"dual-loop":[140,155],"through":[142],"force-feedback":[143],"pose-feedback.":[145],"experiment":[147],"results":[148],"show":[149],"that":[150],"robot\u2019s":[152],"strategy":[157],"function":[158],"accuracy":[161],"reliability,":[163],"meeting":[164],"requirements":[166],"engineering":[168],"applications":[169],"high-precision":[171],"control.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}