{"id":"https://openalex.org/W7166310606","doi":"https://doi.org/10.1016/j.robot.2026.105602","title":"Simplified kinematic modeling and verification of an internally constrained hyper-redundant serpentine manipulator (ICHSM)","display_name":"Simplified kinematic modeling and verification of an internally constrained hyper-redundant serpentine manipulator (ICHSM)","publication_year":2026,"publication_date":"2026-06-27","ids":{"openalex":"https://openalex.org/W7166310606","doi":"https://doi.org/10.1016/j.robot.2026.105602"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2026.105602","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105602","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","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/A5139480101","display_name":"Hao Mei","orcid":"https://orcid.org/0009-0000-9872-9905"},"institutions":[{"id":"https://openalex.org/I4210150840","display_name":"Ministry of Education","ror":"https://ror.org/04a3gjw65","country_code":"BD","type":"government","lineage":["https://openalex.org/I4210150840"]}],"countries":["BD"],"is_corresponding":true,"raw_author_name":"Hao Mei","raw_affiliation_strings":["School of Aeronautics and Astronautics, Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft (Ministry of Education), Robotic Satellite Key Laboratory of Sichuan Province, Sichuan University, Chengdu 610065, China"],"raw_orcid":"https://orcid.org/0009-0000-9872-9905","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft (Ministry of Education), Robotic Satellite Key Laboratory of Sichuan Province, Sichuan University, Chengdu 610065, China","institution_ids":["https://openalex.org/I4210150840"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633632","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0098-5359"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yaobing Wang","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125462883","display_name":"Zhijun Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Zhao","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139481175","display_name":"Qinghua Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150840","display_name":"Ministry of Education","ror":"https://ror.org/04a3gjw65","country_code":"BD","type":"government","lineage":["https://openalex.org/I4210150840"]}],"countries":["BD"],"is_corresponding":false,"raw_author_name":"Qinghua Zhou","raw_affiliation_strings":["School of Aeronautics and Astronautics, Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft (Ministry of Education), Robotic Satellite Key Laboratory of Sichuan Province, Sichuan University, Chengdu 610065, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft (Ministry of Education), Robotic Satellite Key Laboratory of Sichuan Province, Sichuan University, Chengdu 610065, China","institution_ids":["https://openalex.org/I4210150840"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139496074","display_name":"Wanyou Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wanyou Yang","raw_affiliation_strings":["School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5092943323","display_name":"Qiangqiang Min","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150840","display_name":"Ministry of Education","ror":"https://ror.org/04a3gjw65","country_code":"BD","type":"government","lineage":["https://openalex.org/I4210150840"]}],"countries":["BD"],"is_corresponding":false,"raw_author_name":"Qiangqiang Min","raw_affiliation_strings":["School of Aeronautics and Astronautics, Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft (Ministry of Education), Robotic Satellite Key Laboratory of Sichuan Province, Sichuan University, Chengdu 610065, China"],"raw_orcid":"https://orcid.org/0009-0003-9404-0942","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft (Ministry of Education), Robotic Satellite Key Laboratory of Sichuan Province, Sichuan University, Chengdu 610065, China","institution_ids":["https://openalex.org/I4210150840"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100633632","https://openalex.org/A5139480101","https://openalex.org/A5139496074"],"corresponding_institution_ids":["https://openalex.org/I150229711","https://openalex.org/I194716290","https://openalex.org/I4210150840"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.83277807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"205","issue":null,"first_page":"105602","last_page":"105602"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.34360000491142273,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.34360000491142273,"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/T10868","display_name":"Soft Robotics and Applications","score":0.21060000360012054,"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":0.1315000057220459,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7573000192642212},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6424999833106995},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3928000032901764},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33959999680519104},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.3046000003814697}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8514000177383423},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7573000192642212},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6424999833106995},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3928000032901764},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33959999680519104},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32510000467300415},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2865000069141388},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.28139999508857727},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27869999408721924},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.2761000096797943}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2026.105602","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105602","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W421320838","https://openalex.org/W1993383995","https://openalex.org/W2033910955","https://openalex.org/W2039968635","https://openalex.org/W2044500908","https://openalex.org/W2072254960","https://openalex.org/W2326255298","https://openalex.org/W2653772392","https://openalex.org/W2740763895","https://openalex.org/W2747172592","https://openalex.org/W2800378116","https://openalex.org/W2806185962","https://openalex.org/W2883315958","https://openalex.org/W2992610297","https://openalex.org/W3046983221","https://openalex.org/W3156955855","https://openalex.org/W3184036805","https://openalex.org/W3185419978","https://openalex.org/W4296772126","https://openalex.org/W4320517152","https://openalex.org/W4324335437","https://openalex.org/W4362013225","https://openalex.org/W4376256385","https://openalex.org/W4377824075","https://openalex.org/W4384561334","https://openalex.org/W4385731827","https://openalex.org/W4386212372","https://openalex.org/W4387461119","https://openalex.org/W4389586414","https://openalex.org/W4396605964","https://openalex.org/W4400951546","https://openalex.org/W4412449796","https://openalex.org/W4416429293"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-08T06:17:01.165560","created_date":"2026-06-28T00:00:00"}
