{"id":"https://openalex.org/W2120944914","doi":"https://doi.org/10.1109/icca.2013.6565003","title":"Kinematic model and inverse control for continuum manipulators","display_name":"Kinematic model and inverse control for continuum manipulators","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2120944914","doi":"https://doi.org/10.1109/icca.2013.6565003","mag":"2120944914"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2013.6565003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2013.6565003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","raw_type":"proceedings-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/A5055850799","display_name":"Rongjie Kang","orcid":"https://orcid.org/0000-0001-5663-4481"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Rongjie Kang","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genova, Italy","Adv. Robot. Dept., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Adv. Robot. Dept., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103456405","display_name":"Emanuele Guglielmino","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emanuele Guglielmino","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genova, Italy","Adv. Robot. Dept., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Adv. Robot. Dept., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002192089","display_name":"David T. Branson","orcid":"https://orcid.org/0000-0001-5818-666X"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David T. Branson","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, UK","Dept. of Mech., Mater. & Manuf. Eng., Univ. of Nottingham, Nottingham, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]},{"raw_affiliation_string":"Dept. of Mech., Mater. & Manuf. Eng., Univ. of Nottingham, Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genova, Italy","Adv. Robot. Dept., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Adv. Robot. Dept., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055850799"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.7994,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.73993083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"49","issue":null,"first_page":"1615","last_page":"1620"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9921000003814697,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9760000109672546,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7895500063896179},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7380688190460205},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6365675926208496},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6364795565605164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4841059446334839},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.47412967681884766},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.448334276676178},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3616694211959839},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.33854806423187256},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33475977182388306},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27277058362960815},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24406185746192932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24357792735099792},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2180376648902893},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1545785367488861},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11952149868011475},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11644521355628967},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10277917981147766}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7895500063896179},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7380688190460205},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6365675926208496},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6364795565605164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4841059446334839},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.47412967681884766},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.448334276676178},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3616694211959839},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.33854806423187256},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33475977182388306},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27277058362960815},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24406185746192932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24357792735099792},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2180376648902893},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1545785367488861},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11952149868011475},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11644521355628967},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10277917981147766}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2013.6565003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2013.6565003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1988104039","https://openalex.org/W2032788427","https://openalex.org/W2072368467","https://openalex.org/W2096645690","https://openalex.org/W2135412237","https://openalex.org/W2137670317","https://openalex.org/W2147492425","https://openalex.org/W2241606133","https://openalex.org/W2409098254","https://openalex.org/W2798273904","https://openalex.org/W6713772007"],"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/W3030642493","https://openalex.org/W2136233762","https://openalex.org/W2213440246","https://openalex.org/W4283266117"],"abstract_inverted_index":{"Continuum":[0],"manipulators":[1],"have":[2],"virtually":[3],"infinite":[4],"degrees":[5],"of":[6,13,29,56],"freedom":[7],"(DOF)":[8],"and":[9,22,59,71,92,96],"are":[10,104],"therefore":[11],"capable":[12],"highly":[14],"dexterous":[15],"motions.":[16,115],"This":[17],"paper":[18],"studies":[19],"the":[20,42,53,57,68,90,101,108],"forward":[21],"inverse":[23,61],"kinematic":[24,33],"problems":[25],"for":[26],"these":[27],"types":[28],"manipulators.":[30],"The":[31],"presented":[32,102],"model":[34,91],"utilizes":[35],"multiple":[36],"serially":[37],"connected":[38],"segments":[39],"to":[40,51,66,73,88,106,111],"mimic":[41],"continuum":[43,78,109],"morphology.":[44],"A":[45,76],"spline":[46],"interpolation":[47],"method":[48],"is":[49,64,85],"used":[50],"generate":[52],"backbone":[54],"curve":[55],"manipulator,":[58],"an":[60],"control":[62,93,107],"strategy":[63],"developed":[65],"relate":[67],"manipulator":[69,79,110],"position":[70],"orientation":[72],"actuator":[74],"inputs.":[75],"robotic":[77],"using":[80],"pneumatic":[81],"muscle":[82],"actuators":[83],"(PMA)":[84],"then":[86],"constructed":[87],"evaluate":[89],"strategy.":[94],"Simulation":[95],"experiment":[97],"results":[98],"show":[99],"that":[100],"methods":[103],"able":[105],"perform":[112],"some":[113],"stereotyped":[114]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}