{"id":"https://openalex.org/W7151514750","doi":"https://doi.org/10.48550/arxiv.2604.04286","title":"Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots","display_name":"Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots","publication_year":2026,"publication_date":"2026-04-05","ids":{"openalex":"https://openalex.org/W7151514750","doi":"https://doi.org/10.48550/arxiv.2604.04286"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.04286","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04286","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.04286","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016441690","display_name":"Rana Danesh","orcid":"https://orcid.org/0009-0002-9182-1770"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Danesh, Rana","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099844157","display_name":"Farrokh Janabi-Sharifi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Janabi-Sharifi, Farrokh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5000948875","display_name":"Farhad Aghili","orcid":"https://orcid.org/0000-0002-2059-0226"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aghili, Farhad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9732000231742859,"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":0.9732000231742859,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.007300000172108412,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0027000000700354576,"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/control-theory","display_name":"Control theory (sociology)","score":0.6967999935150146},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6212999820709229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5393000245094299},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.490200012922287},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.44339999556541443},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.39750000834465027},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.3930000066757202}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6967999935150146},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6212999820709229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5393000245094299},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.490200012922287},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.44339999556541443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41200000047683716},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.39750000834465027},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.3930000066757202},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.34709998965263367},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3303999900817871},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.32850000262260437},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32120001316070557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32109999656677246},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.3176000118255615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3154999911785126},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.04286","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04286","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.04286","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04286","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8005868792533875}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"co-manipulative":[1],"continuum":[2,6,147],"robots":[3,148],"(CCRs),":[4],"multiple":[5],"arms":[7],"cooperate":[8],"by":[9],"grasping":[10],"a":[11,16,56,81,172],"common":[12],"flexible":[13,37,152],"object,":[14],"forming":[15],"closed-chain":[17,22],"deformable":[18],"mechanical":[19],"system.":[20],"The":[21,68],"coupling":[23],"induces":[24],"strong":[25],"dynamic":[26,66,142],"interactions":[27,104],"and":[28,44,97,111,149,159,169,183],"internal":[29],"reaction":[30],"forces.":[31],"Moreover,":[32],"in":[33,121,180],"practical":[34],"tasks,":[35],"the":[36,65,74,87,90,119,122,128,146,150,162,177],"object's":[38],"physical":[39],"parameters":[40,143],"are":[41,71,105],"often":[42],"unknown":[43],"vary":[45],"between":[46],"operations,":[47],"rendering":[48],"nominal":[49],"model-based":[50],"controllers":[51],"inadequate.":[52],"This":[53],"paper":[54],"presents":[55],"projected":[57,129],"adaptive":[58,95,132],"control":[59,133],"framework":[60,179],"for":[61,94,100,140],"CCRs":[62],"formulated":[63],"at":[64],"level.":[67],"coupled":[69],"dynamics":[70,120],"expressed":[72],"using":[73],"Geometric":[75],"Variable":[76],"Strain":[77],"(GVS)":[78],"representation,":[79],"yielding":[80],"finite-dimensional":[82],"model":[83],"that":[84],"accurately":[85],"represents":[86],"system,":[88],"preserves":[89],"linear-in-parameters":[91],"structure":[92],"required":[93],"control,":[96],"is":[98,115,135],"suitable":[99],"real-time":[101],"implementation.":[102],"Closed-chain":[103],"enforced":[106],"through":[107],"Pfaffian":[108],"velocity":[109],"constraints,":[110],"an":[112,131],"orthogonal":[113],"projection":[114],"used":[116],"to":[117,137,166],"express":[118],"constraint-consistent":[123],"motion":[124],"subspace.":[125],"Based":[126],"on":[127,171],"dynamics,":[130],"law":[134],"developed":[136],"compensate":[138],"online":[139],"uncertain":[141],"of":[144,161],"both":[145],"manipulated":[151],"object.":[153],"Lyapunov":[154],"analysis":[155],"establishes":[156],"closed-loop":[157],"stability":[158],"convergence":[160],"task-space":[163,181],"tracking":[164],"errors":[165],"zero.":[167],"Simulation":[168],"experiments":[170],"tendon-driven":[173],"CCR":[174],"platform":[175],"validate":[176],"proposed":[178],"regulation":[182],"trajectory":[184],"tracking.":[185]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-08T00:00:00"}