{"id":"https://openalex.org/W2099343250","doi":"https://doi.org/10.1109/icra.2011.5979621","title":"Combined kinematic and static analysis of a cable-driven manipulator with a spring spine","display_name":"Combined kinematic and static analysis of a cable-driven manipulator with a spring spine","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2099343250","doi":"https://doi.org/10.1109/icra.2011.5979621","mag":"2099343250"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5091704948","display_name":"Bingtuan Gao","orcid":"https://orcid.org/0000-0001-6933-0743"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingtuan Gao","raw_affiliation_strings":["School of Electrical Engineering, South-East University, Nanjing, China","[School of Electrical Engineering, Southeast University, Nanjing 210096, China.]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, South-East University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"[School of Electrical Engineering, Southeast University, Nanjing 210096, China.]","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009525568","display_name":"Jianguo Zhao","orcid":"https://orcid.org/0000-0003-0305-2597"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianguo Zhao","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","Department of Department of Electrical and Computer Engineering, Michigan State University, East Lansing, 48824, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Department of Department of Electrical and Computer Engineering, Michigan State University, East Lansing, 48824, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023212284","display_name":"Ning Xi","orcid":"https://orcid.org/0000-0001-8276-5696"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ning Xi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","Department of Department of Electrical and Computer Engineering, Michigan State University, East Lansing, 48824, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Department of Department of Electrical and Computer Engineering, Michigan State University, East Lansing, 48824, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087396510","display_name":"Jing Xu","orcid":"https://orcid.org/0000-0002-2997-2351"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Xu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","Department of Department of Electrical and Computer Engineering, Michigan State University, East Lansing, 48824, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Department of Department of Electrical and Computer Engineering, Michigan State University, East Lansing, 48824, USA","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2725","last_page":"2730"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9969000220298767,"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":0.9940999746322632,"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/statics","display_name":"Statics","score":0.7329010963439941},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7187061905860901},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6402497291564941},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5765655040740967},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.570966899394989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5345560312271118},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5107929706573486},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45616868138313293},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42627960443496704},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4218125343322754},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34105080366134644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31226247549057007},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2594996988773346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24778687953948975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20723852515220642},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1564154326915741}],"concepts":[{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.7329010963439941},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7187061905860901},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6402497291564941},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5765655040740967},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.570966899394989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5345560312271118},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5107929706573486},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45616868138313293},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42627960443496704},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4218125343322754},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34105080366134644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31226247549057007},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2594996988773346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24778687953948975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20723852515220642},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1564154326915741},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5979621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/213259","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/213259","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1491891466","https://openalex.org/W1523617169","https://openalex.org/W1967030176","https://openalex.org/W1985121850","https://openalex.org/W2003360230","https://openalex.org/W2022195987","https://openalex.org/W2053778292","https://openalex.org/W2062195789","https://openalex.org/W2076185451","https://openalex.org/W2105451975","https://openalex.org/W2109603444","https://openalex.org/W2118699274","https://openalex.org/W2158050076","https://openalex.org/W2159298254","https://openalex.org/W2165447553","https://openalex.org/W2169270819","https://openalex.org/W2540364312","https://openalex.org/W6669550524"],"related_works":["https://openalex.org/W1981988083","https://openalex.org/W2349561638","https://openalex.org/W1999169606","https://openalex.org/W1981569946","https://openalex.org/W1992320467","https://openalex.org/W2390361220","https://openalex.org/W1984038133","https://openalex.org/W2766380307","https://openalex.org/W2349926997","https://openalex.org/W2004793478"],"abstract_inverted_index":{"A":[0],"humanoid":[1],"neck":[2],"design":[3],"with":[4,119,134,175,187],"low":[5],"motion":[6,18,155],"noise":[7],"yields":[8],"a":[9,20,38,80,90,113,168,176],"cable-driven":[10],"parallel":[11,76,173],"manipulator":[12,31,77,88,174],"to":[13,104,122,171,184],"imitate":[14],"two":[15],"axis":[16],"rotational":[17],"of":[19,29,130,140],"human":[21],"neck.":[22],"The":[23,42,70,162],"fixed":[24],"base":[25],"and":[26,37,137,156,179],"moving":[27,56,132],"platform":[28,133],"the":[30,49,55,64,85,94,106,117,120,128,131,146,153,158],"are":[32,45],"connected":[33],"by":[34],"four":[35,43,135],"cables":[36,44],"column":[39],"compression":[40],"spring.":[41,92],"actuated":[46],"separately,":[47],"while":[48,74],"spring":[50,147,177],"can":[51,151,181],"support":[52],"weight":[53],"on":[54],"platform.":[57],"Although":[58],"similar":[59],"manipulators":[60,186],"exist":[61],"in":[62,164],"literature,":[63],"analysis":[65,163],"for":[66],"them":[67,124,141],"is":[68,72],"scarce.":[69],"difficulty":[71],"that":[73],"traditional":[75],"usually":[78],"has":[79,89],"rigid":[81],"kinematic":[82],"chain":[83],"as":[84,142],"spine,":[86,178],"this":[87,109,165],"flexible":[91,188],"With":[93],"spring's":[95],"lateral":[96],"bending":[97,148],"motion,":[98],"new":[99],"approach":[100],"must":[101],"be":[102,182],"adopted":[103],"solve":[105,123,157],"kinematics.":[107],"In":[108],"paper,":[110],"we":[111,150],"propose":[112],"method":[114],"which":[115],"combines":[116],"kinematics":[118],"statics":[121],"simultaneously.":[125],"We":[126],"parameterize":[127],"posture":[129],"parameters":[136],"consider":[138],"one":[139],"parasitic":[143,154],"motion.":[144],"Using":[145],"equation,":[149],"obtain":[152],"inverse":[159],"position":[160],"problem.":[161],"paper":[166],"provides":[167],"novel":[169],"way":[170],"analyze":[172],"it":[180],"applied":[183],"other":[185],"spines.":[189]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}