{"id":"https://openalex.org/W1979286982","doi":"https://doi.org/10.1109/icra.2014.6907724","title":"Task-space position control of concentric-tube robot with inaccurate kinematics using approximate Jacobian","display_name":"Task-space position control of concentric-tube robot with inaccurate kinematics using approximate Jacobian","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1979286982","doi":"https://doi.org/10.1109/icra.2014.6907724","mag":"1979286982"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5056427994","display_name":"Mohamed Nassim Boushaki","orcid":"https://orcid.org/0000-0001-5654-0653"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mohamed Nassim Boushaki","raw_affiliation_strings":["Robotics Department of LIRMM, CNRS-UM2, Montpellier, France","Conception et commande de robots pour la manipulation"],"affiliations":[{"raw_affiliation_string":"Robotics Department of LIRMM, CNRS-UM2, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Conception et commande de robots pour la manipulation","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664416","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0003-0696-3943"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["Robotics Department of LIRMM, CNRS-UM2, Montpellier, France","Conception et commande de robots pour la manipulation"],"affiliations":[{"raw_affiliation_string":"Robotics Department of LIRMM, CNRS-UM2, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Conception et commande de robots pour la manipulation","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Poignet","raw_affiliation_strings":["Robotics Department of LIRMM, CNRS-UM2, Montpellier, France","Conception et commande de robots pour la manipulation"],"affiliations":[{"raw_affiliation_string":"Robotics Department of LIRMM, CNRS-UM2, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Conception et commande de robots pour la manipulation","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056427994"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":0.7672,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.71504417,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5877","last_page":"5882"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9825999736785889,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8805392384529114},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.868395209312439},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7760355472564697},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6912767887115479},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.604195237159729},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6001020669937134},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5782223343849182},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.5606247782707214},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5434136986732483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5209494829177856},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5168276429176331},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.4995255470275879},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43247225880622864},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3545830249786377},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2935824394226074},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2701845169067383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2467544674873352},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11893850564956665},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09258103370666504},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09199178218841553},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08492377400398254}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8805392384529114},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.868395209312439},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7760355472564697},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6912767887115479},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.604195237159729},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6001020669937134},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5782223343849182},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.5606247782707214},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5434136986732483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5209494829177856},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5168276429176331},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.4995255470275879},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43247225880622864},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3545830249786377},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2935824394226074},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2701845169067383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2467544674873352},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11893850564956665},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09258103370666504},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09199178218841553},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08492377400398254},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6907724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-01275481v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275481","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.icra2014.com","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1992604830","https://openalex.org/W2029418199","https://openalex.org/W2035705728","https://openalex.org/W2060978823","https://openalex.org/W2078850086","https://openalex.org/W2095999605","https://openalex.org/W2101667962","https://openalex.org/W2111015103","https://openalex.org/W2112075057","https://openalex.org/W2112900015","https://openalex.org/W2116144804","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2134555091","https://openalex.org/W2137224424","https://openalex.org/W2147802545","https://openalex.org/W2156199850","https://openalex.org/W2162646641","https://openalex.org/W2162769743"],"related_works":["https://openalex.org/W3126987580","https://openalex.org/W3127401300","https://openalex.org/W2086648974","https://openalex.org/W2972048081","https://openalex.org/W4360991955","https://openalex.org/W2148127540","https://openalex.org/W3127976111","https://openalex.org/W2908230714","https://openalex.org/W2036894621","https://openalex.org/W2362989652"],"abstract_inverted_index":{"Many":[0],"medical":[1],"applications":[2],"can":[3],"benefit":[4],"from":[5,80],"the":[6,23,27,41,59,65,81,87,117],"new":[7,77],"technology":[8],"of":[9,22,30,35,49,67,90,134],"concentric-tube":[10],"robot":[11],"(CTR)":[12],"due":[13],"to":[14],"its":[15],"miniature":[16],"size,":[17],"superior":[18],"steerability,":[19],"and":[20,57,84,102],"controllability":[21],"end":[24],"tool.":[25],"However,":[26],"kinematic":[28],"modeling":[29],"CTR":[31,50],"is":[32,111],"challenging":[33],"because":[34],"complicated":[36],"physical":[37],"phenomena":[38],"caused":[39],"by":[40],"elasticity":[42],"interaction":[43],"between":[44],"tubes.":[45],"Existing":[46],"control":[47,60,78,88,119,130],"methods":[48],"are":[51],"based":[52,129],"on":[53,64],"inverse":[54,127],"kinematics":[55,68,108,128,135],"calculation":[56],"hence":[58],"performance":[61,123],"largely":[62],"relies":[63],"accuracy":[66],"model":[69],"used.":[70],"In":[71],"this":[72],"work,":[73],"we":[74],"propose":[75],"a":[76],"method":[79,120,131],"actuator":[82,91],"level":[83],"show":[85],"that":[86,116],"design":[89],"input":[92],"in":[93,104,107,132],"task-space":[94],"with":[95,125],"approximate":[96],"Jacobian":[97],"matrix":[98],"provides":[99],"more":[100],"flexibility":[101],"robustness":[103],"handling":[105],"inaccuracy":[106],"model.":[109],"It":[110],"shown":[112],"through":[113],"simulation":[114],"study":[115],"proposed":[118],"presents":[121],"better":[122],"compared":[124],"traditional":[126],"face":[133],"inaccuracy.":[136]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-13T14:20:09.374765","created_date":"2025-10-10T00:00:00"}
