{"id":"https://openalex.org/W1592527111","doi":"https://doi.org/10.1109/icra.2015.7139498","title":"Designing snap-free concentric tube robots: A local bifurcation approach","display_name":"Designing snap-free concentric tube robots: A local bifurcation approach","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1592527111","doi":"https://doi.org/10.1109/icra.2015.7139498","mag":"1592527111"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5047656946","display_name":"Richard J. Hendrick","orcid":"https://orcid.org/0000-0001-7976-2064"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Richard J. Hendrick","raw_affiliation_strings":["Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025215159","display_name":"Hunter B. Gilbert","orcid":"https://orcid.org/0000-0001-8590-2596"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hunter B. Gilbert","raw_affiliation_strings":["Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Vanderbilt Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047656946"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":2.3013,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.87176518,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"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/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.758133053779602},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.7554886937141418},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.7203930616378784},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6603232026100159},{"id":"https://openalex.org/keywords/instability","display_name":"Instability","score":0.5883667469024658},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5143736600875854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4323507845401764},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.43136662244796753},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41785481572151184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30157172679901123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2621098458766937},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.23754310607910156},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22937756776809692},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2041281759738922},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18281814455986023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1683063507080078},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08594837784767151}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.758133053779602},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.7554886937141418},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.7203930616378784},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6603232026100159},{"id":"https://openalex.org/C207821765","wikidata":"https://www.wikidata.org/wiki/Q405372","display_name":"Instability","level":2,"score":0.5883667469024658},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5143736600875854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4323507845401764},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.43136662244796753},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41785481572151184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30157172679901123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2621098458766937},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.23754310607910156},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22937756776809692},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2041281759738922},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18281814455986023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1683063507080078},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08594837784767151},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.75,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1508861003","https://openalex.org/W1991443363","https://openalex.org/W1994837038","https://openalex.org/W1996588298","https://openalex.org/W2014100751","https://openalex.org/W2031747890","https://openalex.org/W2035705728","https://openalex.org/W2084461575","https://openalex.org/W2087842666","https://openalex.org/W2089876099","https://openalex.org/W2111015103","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2137224424","https://openalex.org/W2138564331","https://openalex.org/W2162646641","https://openalex.org/W2162769743","https://openalex.org/W2462654948","https://openalex.org/W2525425589","https://openalex.org/W6719065306","https://openalex.org/W6728102747"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"In":[0,46],"designing":[1,37],"concentric":[2],"tube":[3],"robots,":[4],"it":[5],"is":[6,56],"often":[7],"desirable":[8],"to":[9,40,57,66,89,93,99],"use":[10,90],"curvatures":[11,21],"that":[12,59,96],"are":[13,97],"as":[14,16],"high":[15,20],"possible.":[17],"However,":[18],"with":[19,79,83],"comes":[22],"the":[23,38,42,51,68,75],"potential":[24],"for":[25],"elastic":[26,71],"instabilities.":[27],"This":[28],"can":[29,63],"be":[30,64],"addressed":[31],"by":[32,36],"motion":[33],"planning":[34],"or":[35],"robot":[39],"preclude":[41],"possibility":[43],"of":[44,70,77],"instability.":[45],"this":[47],"paper,":[48],"we":[49],"pursue":[50],"latter.":[52],"Our":[53],"primary":[54],"contribution":[55],"show":[58,87],"local":[60],"bifurcation":[61],"theory":[62],"used":[65],"predict":[67],"existence":[69],"instability":[72],"anywhere":[73],"in":[74],"workspace":[76],"robots":[78,95],"arbitrarily":[80],"many":[81],"tubes,":[82],"straight":[84],"transmissions.":[85],"We":[86],"how":[88],"these":[91],"results":[92],"design":[94],"guaranteed":[98],"remain":[100],"elastically":[101],"stable":[102],"at":[103],"all":[104],"times.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}