{"id":"https://openalex.org/W4386159815","doi":"https://doi.org/10.1109/icarm58088.2023.10218826","title":"The Piecewise Constant Curvature Model for the Forward and Inverse Kinematics of Continuum Robot Based on Lie Theory","display_name":"The Piecewise Constant Curvature Model for the Forward and Inverse Kinematics of Continuum Robot Based on Lie Theory","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159815","doi":"https://doi.org/10.1109/icarm58088.2023.10218826"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5023176210","display_name":"Siyuan Lin","orcid":"https://orcid.org/0000-0002-9998-0736"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Lin","raw_affiliation_strings":["Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074","institution_ids":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101638215","display_name":"Yida Wang","orcid":"https://orcid.org/0000-0003-1350-485X"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yida Wang","raw_affiliation_strings":["Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074","institution_ids":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087856269","display_name":"Aoqi Li","orcid":"https://orcid.org/0000-0001-6373-6638"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aoqi Li","raw_affiliation_strings":["Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074","institution_ids":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100693240","display_name":"Wenbin Chen","orcid":"https://orcid.org/0000-0002-2273-1934"},"institutions":[{"id":"https://openalex.org/I4391767905","display_name":"State Key Laboratory of Digital Manufacturing Equipment and Technology","ror":"https://ror.org/004z1wz18","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbin Chen","raw_affiliation_strings":["Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology,State Key Lab of Digital Manufacturing Equipment and Technology,Wuhan,Hubei,China,430074","institution_ids":["https://openalex.org/I4391767905","https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9236,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94554871,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"386","last_page":"391"},"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":0.9650999903678894,"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/T10892","display_name":"Drilling and Well Engineering","score":0.9453999996185303,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/piecewise","display_name":"Piecewise","score":0.7668778896331787},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7455822229385376},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.7234296798706055},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7157533764839172},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5780158042907715},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.532653272151947},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4858412444591522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4653143882751465},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4639456272125244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4497593641281128},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4040696620941162},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.31824755668640137},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3006988763809204},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.26648253202438354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22324705123901367},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20636174082756042},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19856801629066467},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13431107997894287}],"concepts":[{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.7668778896331787},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7455822229385376},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.7234296798706055},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7157533764839172},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5780158042907715},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.532653272151947},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4858412444591522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4653143882751465},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4639456272125244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4497593641281128},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4040696620941162},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.31824755668640137},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3006988763809204},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.26648253202438354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22324705123901367},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20636174082756042},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19856801629066467},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13431107997894287}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1529735165","display_name":null,"funder_award_id":"52075191,U1913205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1502308290","https://openalex.org/W1564897360","https://openalex.org/W1970845222","https://openalex.org/W2004910967","https://openalex.org/W2006573361","https://openalex.org/W2023398310","https://openalex.org/W2058544403","https://openalex.org/W2063797945","https://openalex.org/W2095462685","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2137670317","https://openalex.org/W2168393068","https://openalex.org/W2184993170","https://openalex.org/W2607883703","https://openalex.org/W3045901907","https://openalex.org/W3115133403","https://openalex.org/W3139745322","https://openalex.org/W6674392669"],"related_works":["https://openalex.org/W2351331567","https://openalex.org/W2744818472","https://openalex.org/W2607470227","https://openalex.org/W2355512144","https://openalex.org/W2811382984","https://openalex.org/W1969999327","https://openalex.org/W2213440246","https://openalex.org/W3030642493","https://openalex.org/W4396731552","https://openalex.org/W1253671258"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,101],"have":[2],"received":[3],"much":[4],"attention":[5],"because":[6],"of":[7,11,17,46,69,99,124],"their":[8],"high":[9,39],"degree":[10],"flexibility.":[12],"For":[13],"modeling":[14],"the":[15,20,34,43,47,62,67,75,94,114,118,122,125],"kinematics":[16,36,98],"continuum":[18,58,100],"robots,":[19],"piecewise":[21,82],"constant":[22,83],"curvature":[23,84],"model":[24,63,86,116],"is":[25,52],"widely":[26],"used,":[27],"but":[28],"it":[29],"has":[30,38],"several":[31],"drawbacks.":[32],"Firstly,":[33],"forward":[35,95],"calculation":[37],"computational":[40],"complexity.":[41],"Secondly,":[42],"numerical":[44],"solution":[45],"inverse":[48,97],"kinematic":[49,85],"Jacobian":[50],"matrix":[51],"difficult":[53],"to":[54,112],"describe":[55,93],"for":[56],"multi-segments":[57],"robots.":[59],"And":[60],"thirdly,":[61],"does":[64],"not":[65],"take":[66],"case":[68],"torsion":[70],"into":[71],"account.":[72],"To":[73],"address":[74],"above":[76],"issues,":[77],"this":[78],"paper":[79],"proposes":[80],"a":[81,103],"based":[87],"on":[88],"Lie":[89],"theory":[90],"that":[91],"can":[92],"and":[96,107,117],"in":[102],"more":[104],"simplified":[105],"form,":[106],"some":[108],"simulations":[109],"are":[110],"performed":[111],"validate":[113],"proposed":[115],"simulated":[119],"results":[120],"show":[121],"effectiveness":[123],"model.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
