{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T01:34:18Z","timestamp":1767144858216,"version":"build-2238731810"},"reference-count":28,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2022,9,7]],"date-time":"2022-09-07T00:00:00Z","timestamp":1662508800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2022,9,7]],"date-time":"2022-09-07T00:00:00Z","timestamp":1662508800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"Universit\u00e0 degli Studi di Roma La Sapienza"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["SN COMPUT. SCI."],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring a planar force-closure condition. In particular, the optimization is performed with respect to both to the control strategies and to the set of contact points ensuring a planar, frictionless, first-order force-closure of the target. The case of an elliptic target object is discussed in detail, and numerical simulation are presented.<\/jats:p>","DOI":"10.1007\/s42979-022-01345-0","type":"journal-article","created":{"date-parts":[[2022,9,7]],"date-time":"2022-09-07T12:03:16Z","timestamp":1662552196000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Optimal Contact Points for an Octopus Arm"],"prefix":"10.1007","volume":"3","author":[{"given":"Simone","family":"Cacace","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2096-6753","authenticated-orcid":false,"given":"Anna Chiara","family":"Lai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paola","family":"Loreti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,9,7]]},"reference":[{"key":"1345_CR1","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1007\/978-3-030-92442-3_2","volume":"793","author":"S Cacace","year":"2022","unstructured":"Cacace S, Lai AC, Loreti P. Constrained reachability problems for a planar manipulator. Lect Notes Electr Eng. 2022;793:17\u201331.","journal-title":"Lect Notes Electr Eng"},{"key":"1345_CR2","doi-asserted-by":"crossref","unstructured":"Cacace S, Lai AC, Loreti P. Multi-target optimal control problems for a tentacle-like soft manipulator. In: ICINCO 2021\u2014proceedings of the 18th international conference on informatics in control, automation and robotics. 2021. p. 39\u201348.","DOI":"10.5220\/0010533400390048"},{"issue":"1","key":"1345_CR3","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1137\/19M1238939","volume":"58","author":"S Cacace","year":"2020","unstructured":"Cacace S, Lai AC, Loreti P. Modeling and optimal control of an octopus tentacle. SIAM J Control Optim. 2020;58(1):59\u201384.","journal-title":"SIAM J Control Optim"},{"key":"1345_CR4","doi-asserted-by":"crossref","unstructured":"Cacace S, Lai AC, Loreti P. Control Strategies for an Octopus-like Soft Manipulator. In: ICINCO 2019\u2014proceedings of the 16th international conference on informatics in control, automation and robotics. 2019. p. 82\u201390.","DOI":"10.5220\/0007921700820090"},{"key":"1345_CR5","doi-asserted-by":"crossref","unstructured":"Cacace S, Lai AC, Loreti P. Optimal reachability with obstacle avoidance for hyper-redundant and soft manipulators. In: ICINCO 2020\u2014proceedings of the 17th international conference on informatics in control, automation and robotics. 2020. p. 134\u201341.","DOI":"10.5220\/0009819101340141"},{"key":"1345_CR6","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1007\/978-3-030-63193-2_2","volume":"720","author":"S Cacace","year":"2021","unstructured":"Cacace S, Lai AC, Loreti P. Optimal reachability and grasping for a soft manipulator. Lect Notes Electr Eng. 2021;720:16\u201334.","journal-title":"Lect Notes Electr Eng"},{"issue":"4","key":"1345_CR7","doi-asserted-by":"publisher","first-page":"319","DOI":"10.1177\/027836499501400402","volume":"14","author":"A Bicchi","year":"1995","unstructured":"Bicchi A. On the closure properties of robotic grasping. Int J Robot Res. 1995;14(4):319\u201334.","journal-title":"Int J Robot Res"},{"issue":"1","key":"1345_CR8","first-page":"34","volume":"105","author":"JK Salisbury","year":"1983","unstructured":"Salisbury JK, Roth B. Kinematic and force analysis of articulated mechanical hands. J Mech Design Trans ASME. 1983;105(1):34\u201341.","journal-title":"J Mech Design Trans ASME"},{"key":"1345_CR9","doi-asserted-by":"crossref","unstructured":"Sudsang A, Phoka T. Geometric reformulation of 3-fingered force-closure condition. In: Proceedings of the 2005 IEEE international conference on robotics and automation. 2005. p. 2338\u201343.","DOI":"10.1109\/ROBOT.2005.1570462"},{"key":"1345_CR10","doi-asserted-by":"crossref","unstructured":"Nguyen V. Constructing force-closure grasps. In: Proceedings 1986 IEEE international conference on robotics and automation, vol 3. 1986. p. 1368\u201373.","DOI":"10.1109\/ROBOT.1986.1087483"},{"key":"1345_CR11","doi-asserted-by":"crossref","unstructured":"Michalak K, Filipiak P, Lipinski P. Multiobjective dynamic constrained evolutionary algorithm for control of a multi-segment articulated manipulator. In: International conference on intelligent data engineering and automated learning. Springer. 2014. p. 199\u2013206.","DOI":"10.1007\/978-3-319-10840-7_25"},{"issue":"7553","key":"1345_CR12","doi-asserted-by":"publisher","first-page":"467","DOI":"10.1038\/nature14543","volume":"521","author":"D Rus","year":"2015","unstructured":"Rus D, Tolley MT. Design, fabrication and control of soft robots. Nature. 2015;521(7553):467\u201375.","journal-title":"Nature"},{"key":"1345_CR13","doi-asserted-by":"publisher","first-page":"3","DOI":"10.3389\/fbioe.2014.00003","volume":"2","author":"C Laschi","year":"2014","unstructured":"Laschi C, Cianchetti M. Soft robotics: new perspectives for robot bodyware and control. Front Bioeng Biotechnol. 2014;2:3.","journal-title":"Front Bioeng Biotechnol"},{"issue":"2","key":"1345_CR14","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1089\/soro.2017.0007","volume":"5","author":"T George Thuruthel","year":"2018","unstructured":"George Thuruthel T, Ansari Y, Falotico E, Laschi C. Control strategies for soft robotic manipulators: a survey. Soft Robot. 2018;5(2):149\u201363.","journal-title":"Soft Robot"},{"issue":"1","key":"1345_CR15","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/TRO.2005.861458","volume":"22","author":"BA Jones","year":"2006","unstructured":"Jones BA, Walker ID. Kinematics for multisection continuum robots. IEEE Trans Robot. 2006;22(1):43\u201355.","journal-title":"IEEE Trans Robot"},{"key":"1345_CR16","doi-asserted-by":"crossref","unstructured":"Kang R, Kazakidi A, Guglielmino E, Branson DT, Tsakiris DP, Ekaterinaris JA, Caldwell DG. Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications. In: 2011 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE. 2011. p. 4054\u201359.","DOI":"10.1109\/IROS.2011.6094468"},{"key":"1345_CR17","doi-asserted-by":"crossref","unstructured":"Lai AC, Loreti P. Robot\u2019s hand and expansions in non-integer bases. Discrete Math Comput Sci. 2014;16(1).","DOI":"10.46298\/dmtcs.3913"},{"issue":"2","key":"1345_CR18","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1007\/s00498-016-0167-4","volume":"28","author":"AC Lai","year":"2016","unstructured":"Lai AC, Loreti P, Vellucci P. A Fibonacci control system with application to hyper-redundant manipulators. Math Control Signals Syst. 2016;28(2):15.","journal-title":"Math Control Signals Syst"},{"issue":"7","key":"1345_CR19","doi-asserted-by":"publisher","first-page":"709","DOI":"10.1163\/156855312X626343","volume":"26","author":"C Laschi","year":"2012","unstructured":"Laschi C, Cianchetti M, Mazzolai B, Margheri L, Follador M, Dario P. Soft robot arm inspired by the octopus. Adv Robot. 2012;26(7):709\u201327.","journal-title":"Adv Robot"},{"key":"1345_CR20","doi-asserted-by":"publisher","first-page":"69","DOI":"10.3389\/frobt.2016.00069","volume":"3","author":"J Hughes","year":"2016","unstructured":"Hughes J, Culha U, Giardina F, Guenther F, Rosendo A, Iida F. Soft manipulators and grippers: a review. Front Robot AI. 2016;3:69.","journal-title":"Front Robot AI"},{"key":"1345_CR21","doi-asserted-by":"crossref","unstructured":"Bobrow JE, Dubowsky S, Gibson J. On the optimal control of robotic manipulators with actuator constraints. In: 1983 American control conference. IEEE. 1983. p. 782\u201387.","DOI":"10.23919\/ACC.1983.4788218"},{"issue":"6","key":"1345_CR22","doi-asserted-by":"publisher","first-page":"1484","DOI":"10.1109\/TCYB.2016.2549556","volume":"47","author":"B Wang","year":"2016","unstructured":"Wang B, Wang J, Zhang L, Zhang B, Li X. Cooperative control of heterogeneous uncertain dynamical networks: an adaptive explicit synchronization framework. IEEE Trans Cybern. 2016;47(6):1484\u201395.","journal-title":"IEEE Trans Cybern"},{"issue":"5","key":"1345_CR23","first-page":"380","volume":"231","author":"A Amouri","year":"2017","unstructured":"Amouri A, Mahfoudi C, Zaatri A, Lakhal O, Merzouki R. A metaheuristic approach to solve inverse kinematics of continuum manipulators. Proc Inst Mech Eng Part I J Syst Control Eng. 2017;231(5):380\u201394.","journal-title":"Proc Inst Mech Eng Part I J Syst Control Eng"},{"key":"1345_CR24","doi-asserted-by":"crossref","unstructured":"Amouri A, Mahfoudi C, Zaatri A. Contribution to inverse kinematic modeling of a planar continuum robot using a particle swarm optimization. In: Conference on multiphysics modelling and simulation for systems design. Springer. 2014. p. 141\u201350.","DOI":"10.1007\/978-3-319-14532-7_15"},{"issue":"4","key":"1345_CR25","doi-asserted-by":"publisher","first-page":"935","DOI":"10.1109\/TRO.2014.2314777","volume":"30","author":"T Mahl","year":"2014","unstructured":"Mahl T, Hildebrandt A, Sawodny O. A variable curvature continuum kinematics for kinematic control of the bionic handling assistant. IEEE Trans Robot. 2014;30(4):935\u201349.","journal-title":"IEEE Trans Robot"},{"key":"1345_CR26","doi-asserted-by":"publisher","first-page":"303","DOI":"10.1007\/BF00927673","volume":"4","author":"MR Hestenes","year":"1969","unstructured":"Hestenes MR. Multiplier and gradient methods. J Optim Theory Appl. 1969;4:303\u201320.","journal-title":"J Optim Theory Appl"},{"key":"1345_CR27","unstructured":"Powell MJD. A method for nonlinear constraints in minimization problems. New York: Academic Press; 1969. p. 283\u201398."},{"issue":"1","key":"1345_CR28","doi-asserted-by":"publisher","first-page":"272","DOI":"10.1137\/16M1107103","volume":"56","author":"DS Christian Kanzow","year":"2018","unstructured":"Christian Kanzow DS, Wachsmuth D. An augmented Lagrangian method for optimization problems in Banach spaces. SIAM J Control Optim. 2018;56(1):272\u201391.","journal-title":"SIAM J Control Optim"}],"updated-by":[{"DOI":"10.1007\/s42979-023-02168-3","type":"correction","label":"Correction","source":"publisher","updated":{"date-parts":[[2023,9,28]],"date-time":"2023-09-28T00:00:00Z","timestamp":1695859200000}}],"container-title":["SN Computer Science"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s42979-022-01345-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s42979-022-01345-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s42979-022-01345-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,3]],"date-time":"2024-10-03T07:19:36Z","timestamp":1727939976000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s42979-022-01345-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,7]]},"references-count":28,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2022,11]]}},"alternative-id":["1345"],"URL":"https:\/\/doi.org\/10.1007\/s42979-022-01345-0","relation":{},"ISSN":["2661-8907"],"issn-type":[{"value":"2661-8907","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,9,7]]},"assertion":[{"value":"21 December 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 July 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 September 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 September 2023","order":4,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Correction","order":5,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"A Correction to this paper has been published:","order":6,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"https:\/\/doi.org\/10.1007\/s42979-023-02168-3","URL":"https:\/\/doi.org\/10.1007\/s42979-023-02168-3","order":7,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"468"}}