{"id":"https://openalex.org/W4318716308","doi":"https://doi.org/10.1108/ir-04-2022-0106","title":"An iterative path-following method for hyper-redundant snake-like manipulator with joint limits","display_name":"An iterative path-following method for hyper-redundant snake-like manipulator with joint limits","publication_year":2023,"publication_date":"2023-01-31","ids":{"openalex":"https://openalex.org/W4318716308","doi":"https://doi.org/10.1108/ir-04-2022-0106"},"language":"en","primary_location":{"id":"doi:10.1108/ir-04-2022-0106","is_oa":true,"landing_page_url":"https://doi.org/10.1108/ir-04-2022-0106","pdf_url":"https://www.emerald.com/insight/content/doi/10.1108/IR-04-2022-0106/full/pdf?title=an-iterative-path-following-method-for-hyper-redundant-snake-like-manipulator-with-joint-limits","source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.emerald.com/insight/content/doi/10.1108/IR-04-2022-0106/full/pdf?title=an-iterative-path-following-method-for-hyper-redundant-snake-like-manipulator-with-joint-limits","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100416956","display_name":"Cheng Wang","orcid":"https://orcid.org/0000-0001-5087-3027"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Wang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078018015","display_name":"Haibo Xie","orcid":"https://orcid.org/0000-0003-0977-8719"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haibo Xie","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043317774","display_name":"Huayong Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huayong Yang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5078018015"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.8748,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.68566196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"50","issue":"3","first_page":"505","last_page":"519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6586889624595642},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6583947539329529},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.565359890460968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5599972009658813},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.559840738773346},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.499847412109375},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.46305251121520996},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4540458917617798},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4296371042728424},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.41372373700141907},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30020058155059814},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22672045230865479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12296187877655029},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09594491124153137}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6586889624595642},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6583947539329529},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.565359890460968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5599972009658813},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.559840738773346},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.499847412109375},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.46305251121520996},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4540458917617798},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4296371042728424},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.41372373700141907},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30020058155059814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22672045230865479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12296187877655029},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09594491124153137},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-04-2022-0106","is_oa":true,"landing_page_url":"https://doi.org/10.1108/ir-04-2022-0106","pdf_url":"https://www.emerald.com/insight/content/doi/10.1108/IR-04-2022-0106/full/pdf?title=an-iterative-path-following-method-for-hyper-redundant-snake-like-manipulator-with-joint-limits","source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1108/ir-04-2022-0106","is_oa":true,"landing_page_url":"https://doi.org/10.1108/ir-04-2022-0106","pdf_url":"https://www.emerald.com/insight/content/doi/10.1108/IR-04-2022-0106/full/pdf?title=an-iterative-path-following-method-for-hyper-redundant-snake-like-manipulator-with-joint-limits","source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"No poverty","id":"https://metadata.un.org/sdg/1"}],"awards":[{"id":"https://openalex.org/G6553610193","display_name":null,"funder_award_id":"226-2022-00016","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320326951","display_name":"State Key Laboratory of Fluid Power and Mechatronic Systems","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4318716308.pdf","grobid_xml":"https://content.openalex.org/works/W4318716308.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W788374809","https://openalex.org/W1842017619","https://openalex.org/W1946746497","https://openalex.org/W1999165127","https://openalex.org/W2045581174","https://openalex.org/W2046748649","https://openalex.org/W2049833393","https://openalex.org/W2050283320","https://openalex.org/W2063797945","https://openalex.org/W2101667962","https://openalex.org/W2120906125","https://openalex.org/W2124540383","https://openalex.org/W2977305686","https://openalex.org/W3178098224","https://openalex.org/W3183451895","https://openalex.org/W3200868167","https://openalex.org/W4213215929","https://openalex.org/W4220664695"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387"],"abstract_inverted_index":{"Purpose":[0],"This":[1],"paper":[2],"aims":[3],"to":[4,13,97,191],"present":[5],"an":[6],"iterative":[7,201],"path-following":[8,27,104,189],"method":[9,190,205],"with":[10,124,187,222],"joint":[11,23,71,150,220],"limits":[12,24],"solve":[14],"the":[15,30,47,57,65,69,80,84,99,102,111,130,145,156,162,165,188,203,208,211,219],"problem":[16],"of":[17,33,46,83,87,101,127,164,200],"large":[18],"computation":[19,113,227],"cost,":[20],"movement":[21],"exceeding":[22],"and":[25,92,129,225],"poor":[26],"accuracy":[28],"for":[29,120],"path":[31,41,213],"planning":[32],"hyper-redundant":[34,88,122],"snake-like":[35,48],"manipulator.":[36,89],"Design/methodology/approach":[37],"When":[38],"a":[39,53,74,121,198],"desired":[40,212],"is":[42,50,77,115,158],"given,":[43],"new":[44,75],"configuration":[45],"manipulator":[49,123,157,209],"obtained":[51,78],"through":[52,61,79],"geometrical":[54],"approach,":[55],"then":[56],"joints":[58],"are":[59,94,148],"repositioned":[60],"iterations":[62],"until":[63],"all":[64,144],"rotation":[66,146],"angles":[67,147],"satisfy":[68],"imposed":[70],"limits.":[72,151],"Finally,":[73,90],"arrangement":[76],"analytic":[81],"solution":[82],"inverse":[85],"kinematics":[86],"simulations":[91],"experiments":[93],"carried":[95],"out":[96],"analyze":[98],"performance":[100],"proposed":[103,204],"method.":[105],"Findings":[106],"Simulation":[107],"results":[108],"show":[109,142],"that":[110,143],"average":[112],"time":[114],"0.1":[116],"ms":[117],"per":[118],"step":[119],"12":[125],"degrees":[126],"freedom,":[128],"deviation":[131],"in":[132,160,184,185],"tip":[133],"position":[134],"can":[135,206],"be":[136,182],"kept":[137],"below":[138],"0.02":[139],"mm.":[140],"Experiments":[141],"within":[149,218],"Research":[152],"limitations/implications":[153],"Currently":[154],",":[155],"working":[159],"open-loop,":[161],"elasticity":[163],"driving":[166],"cable":[167],"will":[168,181],"cause":[169],"positioning":[170],"error.":[171],"In":[172],"future,":[173],"close-loop":[174],"control":[175],"based":[176],"on":[177],"real-time":[178],"attitude":[179],"detection":[180],"used":[183],"combination":[186],"achieve":[192],"high-precision":[193],"trajectory":[194],"tracking.":[195],"Originality/value":[196],"Through":[197],"series":[199],"processes,":[202],"make":[207],"approach":[210],"as":[214,216],"much":[215],"possible":[217],"constraints":[221],"high":[223],"precision":[224],"less":[226],"time.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}