{"id":"https://openalex.org/W155549260","doi":"https://doi.org/10.1007/978-3-642-21504-9_7","title":"DOF Minimization for Optimized Shape Control under Active Constraints for a Hyper-redundant Flexible Robot","display_name":"DOF Minimization for Optimized Shape Control under Active Constraints for a Hyper-redundant Flexible Robot","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W155549260","doi":"https://doi.org/10.1007/978-3-642-21504-9_7","mag":"155549260"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-642-21504-9_7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-21504-9_7","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","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/A5037213567","display_name":"Valentina Vitiello","orcid":"https://orcid.org/0000-0002-1724-6264"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Valentina Vitiello","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049212334","display_name":"Ka\u2010Wai Kwok","orcid":"https://orcid.org/0000-0003-1879-9730"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ka-Wai Kwok","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032238485","display_name":"Christopher J. Payne","orcid":"https://orcid.org/0000-0002-5741-8948"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher Payne","raw_affiliation_strings":["The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085036036","display_name":"Guang\u2010Zhong Yang","orcid":"https://orcid.org/0000-0003-4060-4020"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guang-Zhong Yang","raw_affiliation_strings":["Department of Computing, Imperial College London, SW7 2BZ, London, UK","The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, SW7 2BZ, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037213567"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":1.7858,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84928058,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"67","last_page":"78"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9941999912261963,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7802830934524536},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7499804496765137},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6195195913314819},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5735587477684021},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5613517165184021},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.528888463973999},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4829113483428955},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.438096284866333},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.42679235339164734},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.42418649792671204},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36132779717445374},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29048511385917664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2808811664581299},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.12960141897201538},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09060871601104736}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7802830934524536},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7499804496765137},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6195195913314819},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5735587477684021},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5613517165184021},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.528888463973999},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4829113483428955},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.438096284866333},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.42679235339164734},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.42418649792671204},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36132779717445374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29048511385917664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2808811664581299},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.12960141897201538},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09060871601104736},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-642-21504-9_7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-21504-9_7","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:hub.hku.hk:10722/200022","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/200022","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1535203291","https://openalex.org/W1561756543","https://openalex.org/W1577204246","https://openalex.org/W1607026797","https://openalex.org/W1651609297","https://openalex.org/W2006416905","https://openalex.org/W2042913147","https://openalex.org/W2072582474","https://openalex.org/W2087793644","https://openalex.org/W2116833377","https://openalex.org/W2145359186","https://openalex.org/W2146461823","https://openalex.org/W2245074608","https://openalex.org/W4205937065"],"related_works":["https://openalex.org/W1990940587","https://openalex.org/W2738744783","https://openalex.org/W2374485569","https://openalex.org/W2014000908","https://openalex.org/W2948497870","https://openalex.org/W1917399524","https://openalex.org/W1974314767","https://openalex.org/W1678858522","https://openalex.org/W4200438917","https://openalex.org/W38056103"],"abstract_inverted_index":null,"counts_by_year":[{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-06-24T00:00:00"}
