{"id":"https://openalex.org/W7162033685","doi":"https://doi.org/10.48550/arxiv.2605.21031","title":"Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation","display_name":"Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation","publication_year":2026,"publication_date":"2026-05-20","ids":{"openalex":"https://openalex.org/W7162033685","doi":"https://doi.org/10.48550/arxiv.2605.21031"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.21031","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21031","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.2605.21031","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136699780","display_name":"F. Labra Caso","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Caso, F. Labra","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136648441","display_name":"V. Sumathy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sumathy, V.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136681629","display_name":"P. Ferrentino","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ferrentino, P.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136702463","display_name":"V. Vanderborght","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vanderborght, B.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053357867","display_name":"J. Haluska","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haluska, J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136628603","display_name":"G. Nikolakopoulos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikolakopoulos, G.","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":0.848800003528595,"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":0.848800003528595,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.053700000047683716,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.019500000402331352,"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/morphing","display_name":"Morphing","score":0.9122999906539917},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.6100999712944031},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.57669997215271},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5235000252723694},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.505299985408783},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47749999165534973},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.44760000705718994},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.4226999878883362}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.9122999906539917},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.6100999712944031},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.57669997215271},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5235999822616577},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5235000252723694},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.505299985408783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4997999966144562},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47749999165534973},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.44760000705718994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4302999973297119},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.4226999878883362},{"id":"https://openalex.org/C103578843","wikidata":"https://www.wikidata.org/wiki/Q1816388","display_name":"Pneumatic flow control","level":2,"score":0.40119999647140503},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.36149999499320984},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3296000063419342},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29499998688697815},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C109217959","wikidata":"https://www.wikidata.org/wiki/Q4567087","display_name":"Pneumatic cylinder","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2606000006198883}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.21031","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21031","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.2605.21031","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21031","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":[{"display_name":"Peace, Justice and strong institutions","score":0.5910239815711975,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,23,63,106],"novel":[4,149],"SOFA":[5],"based":[6],"finite":[7],"element":[8],"method":[9],"for":[10],"the":[11,16,32,44,55,77,82,97,102,113,121,125,129,136,144,147,153],"soft":[12,26,51,56,130],"body":[13],"modeling":[14,30,150],"and":[15,20,35,90,117,152],"corresponding":[17],"dynamic":[18,79,115],"simulation":[19,141],"control":[21,36,92],"of":[22,38,48,81,120,146],"pneumatic":[24,122,126],"morphing":[25,103,118],"quadrotor.":[27],"The":[28,140],"proposed":[29,110,148],"preserves":[31],"physical":[33],"interpretability":[34],"structure":[37],"traditional":[39],"quadrotor":[40],"dynamics,":[41],"while":[42],"capturing":[43],"complex,":[45],"time-varying":[46],"behavior":[47,80,116],"pneumatically":[49,57],"actuated":[50,58],"arms.":[52],"In":[53],"SOFA,":[54],"arms":[59],"are":[60],"discretized":[61],"as":[62],"tetrahedral":[64],"mesh":[65],"following":[66],"an":[67],"elastic":[68],"material":[69],"law":[70],"that":[71],"produces":[72],"internal":[73,98],"forces":[74],"adequate":[75],"to":[76,100,111,128,134],"real":[78],"body.":[83],"Pneumatic":[84],"actuation":[85,127],"governed":[86],"by":[87],"both":[88],"periodic":[89],"error-based":[91],"signals":[93],"is":[94,109,132],"applied":[95],"within":[96],"cavities":[99],"analyze":[101],"capability.":[104],"Finally,":[105],"proportional-integral":[107],"controller":[108,155],"study":[112],"controlled":[114,133],"capabilities":[119],"arm,":[123],"wherein":[124],"arm":[131],"achieve":[135],"desired":[137],"target":[138],"position.":[139],"results":[142],"show":[143],"effectiveness":[145],"framework":[151],"related":[154],"design.":[156]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-22T00:00:00"}