{"id":"https://openalex.org/W2258393775","doi":"https://doi.org/10.1080/01691864.2015.1118409","title":"Analysis and heading control of continuum planar snake robot based on kinematics and a general solution thereof","display_name":"Analysis and heading control of continuum planar snake robot based on kinematics and a general solution thereof","publication_year":2016,"publication_date":"2016-01-11","ids":{"openalex":"https://openalex.org/W2258393775","doi":"https://doi.org/10.1080/01691864.2015.1118409","mag":"2258393775"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2015.1118409","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2015.1118409","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5041139706","display_name":"Ryo Ariizumi","orcid":"https://orcid.org/0000-0002-2791-9979"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ryo Ariizumi","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005230351","display_name":"Motoyasu Tanaka","orcid":"https://orcid.org/0000-0002-3717-8852"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motoyasu Tanaka","raw_affiliation_strings":["Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041139706"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1966,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.77779801,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"30","issue":"5","first_page":"301","last_page":"314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9933000206947327,"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":0.972599983215332,"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":0.7806179523468018},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6509406566619873},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5668509006500244},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5227030515670776},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.5117025375366211},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49344602227211},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.4672308564186096},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.44794419407844543},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.44729453325271606},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.43642595410346985},{"id":"https://openalex.org/keywords/constraint-algorithm","display_name":"Constraint algorithm","score":0.4160860776901245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40502581000328064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38601958751678467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2877601981163025},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25094377994537354},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21026068925857544},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20821884274482727},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2046099603176117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19638213515281677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1935299038887024},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15481635928153992},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.14858651161193848},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13882964849472046}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7806179523468018},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6509406566619873},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5668509006500244},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5227030515670776},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.5117025375366211},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49344602227211},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.4672308564186096},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.44794419407844543},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.44729453325271606},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.43642595410346985},{"id":"https://openalex.org/C15980293","wikidata":"https://www.wikidata.org/wiki/Q5164368","display_name":"Constraint algorithm","level":3,"score":0.4160860776901245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40502581000328064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38601958751678467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2877601981163025},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25094377994537354},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21026068925857544},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20821884274482727},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2046099603176117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19638213515281677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1935299038887024},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15481635928153992},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.14858651161193848},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13882964849472046},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2015.1118409","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2015.1118409","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W10508817","https://openalex.org/W1898305668","https://openalex.org/W1939016165","https://openalex.org/W1969023123","https://openalex.org/W1991749454","https://openalex.org/W2018533951","https://openalex.org/W2056881716","https://openalex.org/W2057529645","https://openalex.org/W2063797945","https://openalex.org/W2071030813","https://openalex.org/W2078013888","https://openalex.org/W2086933202","https://openalex.org/W2096173906","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2102252220","https://openalex.org/W2120606903","https://openalex.org/W2125096161","https://openalex.org/W2127900519","https://openalex.org/W2128095394","https://openalex.org/W2134091699","https://openalex.org/W2137670317","https://openalex.org/W2140789655","https://openalex.org/W2146092907","https://openalex.org/W2163994137","https://openalex.org/W2167550309","https://openalex.org/W2798273904","https://openalex.org/W3172424995"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W339676884","https://openalex.org/W3134555460","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,53,68,92,96,102,118],"kinematic":[4,34,48],"calculation":[5,69],"and":[6,67,138],"control":[7],"method":[8,70,119,133],"for":[9,91,101,120],"an":[10],"inextensible":[11],"continuum":[12,103],"planar":[13],"snake":[14,17,93,104],"robot.":[15,46],"The":[16,47,84,129],"robot":[18,94],"is":[19,50,134],"assumed":[20],"to":[21,31],"move":[22],"without":[23],"side":[24],"slipping;":[25],"this":[26,114],"constraint":[27,76],"makes":[28],"it":[29],"easy":[30],"construct":[32],"its":[33],"model":[35,49],"based":[36,71],"on":[37,72],"which":[38],"we":[39,116],"can":[40],"analyze":[41],"the":[42,45,61,65,75,79,122],"movement":[43,125],"of":[44,64,81,86,124,131],"expressed":[51],"as":[52],"semi-linear":[54],"partial":[55],"differential":[56],"equation":[57],"(PDE).":[58],"We":[59],"discuss":[60],"general":[62],"solution":[63],"PDE":[66],"it.":[73],"However,":[74],"also":[77],"raises":[78],"problem":[80,85],"singular":[82],"posture.":[83],"singularities":[87],"has":[88,109],"been":[89,110],"addressed":[90],"with":[95],"serial":[97],"link":[98],"structure;":[99],"however,":[100],"robot,":[105],"much":[106],"less":[107],"research":[108],"carried":[111],"out.":[112],"In":[113],"paper,":[115],"propose":[117],"controlling":[121],"direction":[123],"while":[126],"avoiding":[127],"singularities.":[128],"validity":[130],"our":[132],"tested":[135],"through":[136],"simulations":[137],"experiments.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}