{"id":"https://openalex.org/W3128137221","doi":"https://doi.org/10.1017/s0263574720001484","title":"Forward Kinematic Modeling of Conical-Shaped Continuum Manipulators","display_name":"Forward Kinematic Modeling of Conical-Shaped Continuum Manipulators","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3128137221","doi":"https://doi.org/10.1017/s0263574720001484","mag":"3128137221"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720001484","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720001484","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5044660987","display_name":"Audrey Hyacinthe Bouyom Boutchouang","orcid":"https://orcid.org/0000-0002-4314-9767"},"institutions":[{"id":"https://openalex.org/I1331070479","display_name":"Universit\u00e9 de Yaound\u00e9 I","ror":"https://ror.org/022zbs961","country_code":"CM","type":"education","lineage":["https://openalex.org/I1331070479"]},{"id":"https://openalex.org/I4210149531","display_name":"National Advanced School of Public Works","ror":"https://ror.org/05p811391","country_code":"CM","type":"education","lineage":["https://openalex.org/I4210149531"]}],"countries":["CM"],"is_corresponding":true,"raw_author_name":"A. H. Bouyom Boutchouang","raw_affiliation_strings":["Department of Electrical and Telecommunications Engineering, Ecole Nationale Sup\u00e9rieure Polytechnique, University of Yaounde I, Yaounde 8390, Cameroon. E-mail:","Universit\u00e9 de Yaound\u00e9 I, Ecole Nationale Sup\u00e9rieure Polytechnique de Yaound\u00e9"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Telecommunications Engineering, Ecole Nationale Sup\u00e9rieure Polytechnique, University of Yaounde I, Yaounde 8390, Cameroon. E-mail:","institution_ids":["https://openalex.org/I4210149531","https://openalex.org/I1331070479"]},{"raw_affiliation_string":"Universit\u00e9 de Yaound\u00e9 I, Ecole Nationale Sup\u00e9rieure Polytechnique de Yaound\u00e9","institution_ids":["https://openalex.org/I4210149531","https://openalex.org/I1331070479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045013272","display_name":"Achille Melingui","orcid":"https://orcid.org/0000-0003-2470-7708"},"institutions":[{"id":"https://openalex.org/I1331070479","display_name":"Universit\u00e9 de Yaound\u00e9 I","ror":"https://ror.org/022zbs961","country_code":"CM","type":"education","lineage":["https://openalex.org/I1331070479"]},{"id":"https://openalex.org/I4210149531","display_name":"National Advanced School of Public Works","ror":"https://ror.org/05p811391","country_code":"CM","type":"education","lineage":["https://openalex.org/I4210149531"]}],"countries":["CM"],"is_corresponding":false,"raw_author_name":"Achille Melingui","raw_affiliation_strings":["Department of Electrical and Telecommunications Engineering, Ecole Nationale Sup\u00e9rieure Polytechnique, University of Yaounde I, Yaounde 8390, Cameroon. E-mail:","Universit\u00e9 de Yaound\u00e9 I, Ecole Nationale Sup\u00e9rieure Polytechnique de Yaound\u00e9"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Telecommunications Engineering, Ecole Nationale Sup\u00e9rieure Polytechnique, University of Yaounde I, Yaounde 8390, Cameroon. E-mail:","institution_ids":["https://openalex.org/I4210149531","https://openalex.org/I1331070479"]},{"raw_affiliation_string":"Universit\u00e9 de Yaound\u00e9 I, Ecole Nationale Sup\u00e9rieure Polytechnique de Yaound\u00e9","institution_ids":["https://openalex.org/I4210149531","https://openalex.org/I1331070479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011747939","display_name":"Joseph Jean-Baptiste Mvogo Ahanda","orcid":"https://orcid.org/0000-0001-8876-044X"},"institutions":[{"id":"https://openalex.org/I1331070479","display_name":"Universit\u00e9 de Yaound\u00e9 I","ror":"https://ror.org/022zbs961","country_code":"CM","type":"education","lineage":["https://openalex.org/I1331070479"]},{"id":"https://openalex.org/I263774594","display_name":"University of Bamenda","ror":"https://ror.org/031ahrf94","country_code":"CM","type":"education","lineage":["https://openalex.org/I263774594"]},{"id":"https://openalex.org/I4210149531","display_name":"National Advanced School of Public Works","ror":"https://ror.org/05p811391","country_code":"CM","type":"education","lineage":["https://openalex.org/I4210149531"]}],"countries":["CM"],"is_corresponding":false,"raw_author_name":"J. J. B. Mvogo Ahanda","raw_affiliation_strings":["Department of Electrical and Power Engineering, University of Bamenda, Bamenda 39 Bambili, Cameroun. E-mail:","Universit\u00e9 de Yaound\u00e9 I, Ecole Nationale Sup\u00e9rieure Polytechnique de Yaound\u00e9"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Power Engineering, University of Bamenda, Bamenda 39 Bambili, Cameroun. E-mail:","institution_ids":["https://openalex.org/I263774594"]},{"raw_affiliation_string":"Universit\u00e9 de Yaound\u00e9 I, Ecole Nationale Sup\u00e9rieure Polytechnique de Yaound\u00e9","institution_ids":["https://openalex.org/I4210149531","https://openalex.org/I1331070479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055406320","display_name":"Othman Lakhal","orcid":"https://orcid.org/0000-0003-0169-5396"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4387153239","display_name":"Centre de Recherche en Informatique, Signal et Automatique de Lille","ror":"https://ror.org/05vrs3189","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I4387153239","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Othman Lakhal","raw_affiliation_strings":["CRIStAL Laboratory, CNRS-UMR,Villeneuve d\u2019Ascq 59655, France. E-mails:","Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189"],"affiliations":[{"raw_affiliation_string":"CRIStAL Laboratory, CNRS-UMR,Villeneuve d\u2019Ascq 59655, France. E-mails:","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I4387153239"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048037665","display_name":"Fr\u00e9d\u00e9ric Biya Motto","orcid":null},"institutions":[{"id":"https://openalex.org/I1331070479","display_name":"Universit\u00e9 de Yaound\u00e9 I","ror":"https://ror.org/022zbs961","country_code":"CM","type":"education","lineage":["https://openalex.org/I1331070479"]}],"countries":["CM"],"is_corresponding":false,"raw_author_name":"Frederic Biya Motto","raw_affiliation_strings":["Department of Physic\u2019s, Faculty of Sciences, University of Yaounde I, Yaounde 8390, Cameroon. E-mail:","Universit\u00e9 de Yaound\u00e9 I"],"affiliations":[{"raw_affiliation_string":"Department of Physic\u2019s, Faculty of Sciences, University of Yaounde I, Yaounde 8390, Cameroon. E-mail:","institution_ids":["https://openalex.org/I1331070479"]},{"raw_affiliation_string":"Universit\u00e9 de Yaound\u00e9 I","institution_ids":["https://openalex.org/I1331070479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061984641","display_name":"Rochdi Merzouki","orcid":"https://orcid.org/0000-0001-9153-6078"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4387153239","display_name":"Centre de Recherche en Informatique, Signal et Automatique de Lille","ror":"https://ror.org/05vrs3189","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I4387153239","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rochdi Merzouki","raw_affiliation_strings":["CRIStAL Laboratory, CNRS-UMR,Villeneuve d\u2019Ascq 59655, France. E-mails:","Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189"],"affiliations":[{"raw_affiliation_string":"CRIStAL Laboratory, CNRS-UMR,Villeneuve d\u2019Ascq 59655, France. E-mails:","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I4387153239"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5044660987"],"corresponding_institution_ids":["https://openalex.org/I1331070479","https://openalex.org/I4210149531"],"apc_list":null,"apc_paid":null,"fwci":0.7616,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.66616864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"39","issue":"10","first_page":"1760","last_page":"1778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9929999709129333,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9711999893188477,"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/kinematics","display_name":"Kinematics","score":0.7593942880630493},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6521555185317993},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6251279711723328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6192142963409424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6098180413246155},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5188727974891663},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45023804903030396},{"id":"https://openalex.org/keywords/conical-surface","display_name":"Conical surface","score":0.43196582794189453},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3735669255256653},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20701849460601807},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1317213475704193},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09514191746711731},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08064377307891846}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7593942880630493},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6521555185317993},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6251279711723328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6192142963409424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6098180413246155},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5188727974891663},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45023804903030396},{"id":"https://openalex.org/C124961601","wikidata":"https://www.wikidata.org/wiki/Q2518149","display_name":"Conical surface","level":2,"score":0.43196582794189453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3735669255256653},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20701849460601807},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1317213475704193},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09514191746711731},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08064377307891846},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574720001484","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720001484","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-03503420v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03503420","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2021, 39 (10), pp.1760-1778. ⟨10.1017/S0263574720001484⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W51589798","https://openalex.org/W1622676895","https://openalex.org/W1925428099","https://openalex.org/W1968531008","https://openalex.org/W1970557511","https://openalex.org/W1975593599","https://openalex.org/W1979700756","https://openalex.org/W1982082424","https://openalex.org/W1988485873","https://openalex.org/W1994197834","https://openalex.org/W1997060717","https://openalex.org/W2007272376","https://openalex.org/W2014502771","https://openalex.org/W2019428733","https://openalex.org/W2024672209","https://openalex.org/W2034286599","https://openalex.org/W2055478070","https://openalex.org/W2056834288","https://openalex.org/W2057371225","https://openalex.org/W2063507564","https://openalex.org/W2063797945","https://openalex.org/W2072128103","https://openalex.org/W2080400115","https://openalex.org/W2087104703","https://openalex.org/W2095462685","https://openalex.org/W2095804824","https://openalex.org/W2095999605","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2110795172","https://openalex.org/W2119343887","https://openalex.org/W2120944914","https://openalex.org/W2135485145","https://openalex.org/W2137670317","https://openalex.org/W2140833774","https://openalex.org/W2146587048","https://openalex.org/W2158730742","https://openalex.org/W2160229137","https://openalex.org/W2162502118","https://openalex.org/W2164700406","https://openalex.org/W2183376419","https://openalex.org/W2345630035","https://openalex.org/W2402846924","https://openalex.org/W2404539446","https://openalex.org/W2543580944","https://openalex.org/W2551397753","https://openalex.org/W2586476486","https://openalex.org/W2612114597","https://openalex.org/W2613634265","https://openalex.org/W2780099243","https://openalex.org/W2783165089","https://openalex.org/W2790979755","https://openalex.org/W2800324873","https://openalex.org/W2907771773","https://openalex.org/W2910440184","https://openalex.org/W4230591301","https://openalex.org/W4231109964","https://openalex.org/W4233918451","https://openalex.org/W4365799847","https://openalex.org/W4365806381","https://openalex.org/W4365806384","https://openalex.org/W4376526089","https://openalex.org/W6649413940","https://openalex.org/W6666821246","https://openalex.org/W6680887930","https://openalex.org/W6705054044","https://openalex.org/W6737658843"],"related_works":["https://openalex.org/W2363967645","https://openalex.org/W2358332696","https://openalex.org/W2910982703","https://openalex.org/W2718067073","https://openalex.org/W2364131922","https://openalex.org/W2373128913","https://openalex.org/W1968830725","https://openalex.org/W2367625424","https://openalex.org/W2742445019","https://openalex.org/W4386600357"],"abstract_inverted_index":{"SUMMARY":[0],"Forward":[1],"kinematics":[2],"is":[3,60,77],"essential":[4],"in":[5],"robot":[6,68,88],"control.":[7],"Its":[8],"resolution":[9],"remains":[10],"a":[11],"challenge":[12],"for":[13,71],"continuum":[14],"manipulators":[15],"because":[16],"of":[17,33],"their":[18],"inherent":[19],"flexibility.":[20],"Learning-based":[21],"approaches":[22,98],"allow":[23],"obtaining":[24],"accurate":[25],"models.":[26],"However,":[27],"they":[28],"suffer":[29],"from":[30,62,69],"the":[31,34,40,52,67],"explosion":[32],"learning":[35,58],"database":[36,59,75],"that":[37,50],"wears":[38],"down":[39],"manipulator":[41],"during":[42],"data":[43],"collection.":[44],"This":[45],"paper":[46],"proposes":[47],"an":[48,91],"approach":[49],"combines":[51],"model":[53],"and":[54],"learning-based":[55],"approaches.":[56],"The":[57,74,84,94],"derived":[61],"analytical":[63],"equations":[64],"to":[65],"prevent":[66],"operating":[70],"long":[72],"periods.":[73],"obtained":[76],"handled":[78],"using":[79],"Deep":[80],"Neural":[81],"Networks":[82],"(DNNs).":[83],"Compact":[85],"Bionic":[86],"Handling":[87],"serves":[89],"as":[90],"experimental":[92],"platform.":[93],"comparison":[95],"with":[96],"existing":[97],"gives":[99],"satisfaction.":[100]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2021-02-15T00:00:00"}