{"id":"https://openalex.org/W4220664695","doi":"https://doi.org/10.1017/s026357472200039x","title":"An iterative algorithm for inverse displacement analysis of Hyper-redundant elephant\u2019s trunk robot","display_name":"An iterative algorithm for inverse displacement analysis of Hyper-redundant elephant\u2019s trunk robot","publication_year":2022,"publication_date":"2022-03-28","ids":{"openalex":"https://openalex.org/W4220664695","doi":"https://doi.org/10.1017/s026357472200039x"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472200039x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472200039x","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/A5070818675","display_name":"Feifei Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I32574673","display_name":"Shantou University","ror":"https://ror.org/01a099706","country_code":"CN","type":"education","lineage":["https://openalex.org/I32574673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feifei Yuan","raw_affiliation_strings":["Department of Mechatronics Engineering, Shantou University, Shantou 515063, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Shantou University, Shantou 515063, China","institution_ids":["https://openalex.org/I32574673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101840675","display_name":"Yongjie Zhao","orcid":"https://orcid.org/0000-0002-8491-9422"},"institutions":[{"id":"https://openalex.org/I32574673","display_name":"Shantou University","ror":"https://ror.org/01a099706","country_code":"CN","type":"education","lineage":["https://openalex.org/I32574673"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongjie Zhao","raw_affiliation_strings":["Department of Mechatronics Engineering, Shantou University, Shantou 515063, China"],"raw_orcid":"https://orcid.org/0000-0002-8491-9422","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Shantou University, Shantou 515063, China","institution_ids":["https://openalex.org/I32574673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100637822","display_name":"Yongxing Zhang","orcid":"https://orcid.org/0000-0003-4403-8126"},"institutions":[{"id":"https://openalex.org/I32574673","display_name":"Shantou University","ror":"https://ror.org/01a099706","country_code":"CN","type":"education","lineage":["https://openalex.org/I32574673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongxing Zhang","raw_affiliation_strings":["Department of Mechatronics Engineering, Shantou University, Shantou 515063, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Shantou University, Shantou 515063, China","institution_ids":["https://openalex.org/I32574673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693937","display_name":"Xingwei Zhang","orcid":"https://orcid.org/0000-0001-8051-8712"},"institutions":[{"id":"https://openalex.org/I32574673","display_name":"Shantou University","ror":"https://ror.org/01a099706","country_code":"CN","type":"education","lineage":["https://openalex.org/I32574673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingwei Zhang","raw_affiliation_strings":["Department of Mechatronics Engineering, Shantou University, Shantou 515063, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Shantou University, Shantou 515063, China","institution_ids":["https://openalex.org/I32574673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112745694","display_name":"Xinjian Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjian Lu","raw_affiliation_strings":["Guangdong Goldenwork Robot Technology Ltd, Foshan 528000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Goldenwork Robot Technology Ltd, Foshan 528000, China","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101840675"],"corresponding_institution_ids":["https://openalex.org/I32574673"],"apc_list":null,"apc_paid":null,"fwci":0.3639,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55169306,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"40","issue":"10","first_page":"3539","last_page":"3556"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994000196456909,"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":0.9991000294685364,"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/displacement","display_name":"Displacement (psychology)","score":0.6712127923965454},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.653767466545105},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6498850584030151},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.5224958062171936},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5103606581687927},{"id":"https://openalex.org/keywords/iterative-and-incremental-development","display_name":"Iterative and incremental development","score":0.5102541446685791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49839043617248535},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.4701929986476898},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4692416489124298},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4669218063354492},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.4325743317604065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38622617721557617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2378545105457306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2232132852077484},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10292854905128479},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08569490909576416}],"concepts":[{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6712127923965454},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.653767466545105},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6498850584030151},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.5224958062171936},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5103606581687927},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.5102541446685791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49839043617248535},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.4701929986476898},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4692416489124298},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4669218063354492},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.4325743317604065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38622617721557617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2378545105457306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2232132852077484},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10292854905128479},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08569490909576416},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357472200039x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472200039x","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W421320838","https://openalex.org/W1499677911","https://openalex.org/W1753057598","https://openalex.org/W1943821940","https://openalex.org/W1966364068","https://openalex.org/W1973373088","https://openalex.org/W1990886819","https://openalex.org/W1993383995","https://openalex.org/W1999165127","https://openalex.org/W1999200439","https://openalex.org/W2003271986","https://openalex.org/W2007920821","https://openalex.org/W2033441509","https://openalex.org/W2039927751","https://openalex.org/W2050547097","https://openalex.org/W2058544403","https://openalex.org/W2060978823","https://openalex.org/W2095816934","https://openalex.org/W2098596651","https://openalex.org/W2103621844","https://openalex.org/W2121691155","https://openalex.org/W2137670317","https://openalex.org/W2146097584","https://openalex.org/W2157033597","https://openalex.org/W2172219806","https://openalex.org/W2198115693","https://openalex.org/W2337489369","https://openalex.org/W2585005151","https://openalex.org/W2791173100","https://openalex.org/W2887981281","https://openalex.org/W2949379060","https://openalex.org/W2985107773","https://openalex.org/W3112960441","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W2331917905","https://openalex.org/W3155039083","https://openalex.org/W1970914699","https://openalex.org/W2498640783","https://openalex.org/W2022562732","https://openalex.org/W1501002176","https://openalex.org/W1495035728","https://openalex.org/W2034475059","https://openalex.org/W2026748623","https://openalex.org/W2758781407"],"abstract_inverted_index":{"Abstract":[0],"This":[1,56],"paper":[2],"proposes":[3],"an":[4],"iterative":[5,57],"algorithm":[6,58,99],"to":[7,36,84],"solve":[8],"the":[9,37,45,60,65,68,75,87,90,98,104],"inverse":[10,41,61,71,105],"displacement":[11,62,72,106],"for":[12],"a":[13,28],"hyper-redundant":[14],"elephant\u2019s":[15],"trunk":[16],"robot":[17,88],"(HRETR).":[18],"In":[19],"this":[20],"algorithm,":[21],"each":[22],"parallel":[23,69],"module":[24],"is":[25,100],"regarded":[26],"as":[27],"geometric":[29],"line":[30],"segment":[31],"and":[32,40,53],"point":[33],"model.":[34],"According":[35],"forward":[38,52],"approximation":[39],"pose":[42],"adjustment":[43],"principles,":[44],"iteration":[46],"process":[47],"can":[48],"be":[49],"divided":[50],"into":[51,67],"backward":[54],"iteration.":[55],"transforms":[59],"problem":[63,107],"of":[64,108],"HRETR":[66],"module\u2019s":[70],"problem.":[73],"Considering":[74],"mechanical":[76],"joint":[77],"constraints,":[78],"multiple":[79],"iterations":[80],"are":[81],"carried":[82],"out":[83],"ensure":[85],"that":[86,97],"satisfies":[89],"required":[91],"position":[92],"error.":[93],"Simulation":[94],"results":[95],"show":[96],"effective":[101],"in":[102],"solving":[103],"HRETR.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}