{"id":"https://openalex.org/W2414073787","doi":"https://doi.org/10.1109/icra.2016.7487702","title":"A geometry deformation model for compound continuum manipulators with external loading","display_name":"A geometry deformation model for compound continuum manipulators with external loading","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2414073787","doi":"https://doi.org/10.1109/icra.2016.7487702","mag":"2414073787"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://kclpure.kcl.ac.uk/ws/files/49857964/ICRA16_2042.6k6Lw.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076130972","display_name":"S. M. Hadi Sadati","orcid":"https://orcid.org/0000-0002-5862-265X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"S. M. Hadi Sadati","raw_affiliation_strings":["Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, London, GB"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, London, GB","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007795220","display_name":"Ali Shiva","orcid":"https://orcid.org/0000-0002-5387-5586"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ali Shiva","raw_affiliation_strings":["Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043069972","display_name":"Ahmad Ataka","orcid":"https://orcid.org/0000-0003-3082-5778"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ahmad Ataka","raw_affiliation_strings":["Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013253963","display_name":"S. Elnaz Naghibi","orcid":"https://orcid.org/0000-0003-0152-9179"},"institutions":[{"id":"https://openalex.org/I124357947","display_name":"University of London","ror":"https://ror.org/04cw6st05","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S. Elnaz Naghibi","raw_affiliation_strings":["Department of Material and Mechanical Engineering, University of London, London, London, GB"],"affiliations":[{"raw_affiliation_string":"Department of Material and Mechanical Engineering, University of London, London, London, GB","institution_ids":["https://openalex.org/I124357947"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011466895","display_name":"Ian D. Walker","orcid":"https://orcid.org/0000-0002-9465-2960"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian. D. Walker","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, United States"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, United States","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060656142","display_name":"Thrishantha Nanayakkara","orcid":"https://orcid.org/0000-0002-1882-1232"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thrishantha Nanayakkara","raw_affiliation_strings":["Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Center for Robotics Research (CoRe), King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5076130972"],"corresponding_institution_ids":["https://openalex.org/I183935753","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":2.4489,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.88349536,"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":"4957","last_page":"4962"},"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":0.9954000115394592,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9850999712944031,"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":0.6901503205299377},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6258184909820557},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5943461656570435},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5764760971069336},{"id":"https://openalex.org/keywords/virtual-work","display_name":"Virtual work","score":0.5711285471916199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5555555820465088},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4937916696071625},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.44948914647102356},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4484156668186188},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4177766442298889},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2542271614074707},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.24305203557014465},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.2388264238834381},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23748648166656494},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23494482040405273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2255990207195282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20395389199256897},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1978887915611267},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10532018542289734}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6901503205299377},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6258184909820557},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5943461656570435},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5764760971069336},{"id":"https://openalex.org/C136560751","wikidata":"https://www.wikidata.org/wiki/Q1144923","display_name":"Virtual work","level":3,"score":0.5711285471916199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5555555820465088},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4937916696071625},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.44948914647102356},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4484156668186188},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4177766442298889},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2542271614074707},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.24305203557014465},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2388264238834381},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23748648166656494},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23494482040405273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2255990207195282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20395389199256897},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1978887915611267},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10532018542289734},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2016.7487702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:openaire/fc511e95-f093-4037-8be5-20ecc5ad5f80","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/fc511e95-f093-4037-8be5-20ecc5ad5f80","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/49857964/ICRA16_2042.6k6Lw.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sadati, S, Shiva, A, Rizqi, A A A, Naghibi, S E, Walker, I, Althoefer, K A & Nanayakkara, T 2016, A Geometry Deformation Model for Compound Continuum Manipulators with External Loading. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2016-June, 7487702, pp. 4957-4962, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 16/05/2016. https://doi.org/10.1109/ICRA.2016.7487702","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/14110","is_oa":false,"landing_page_url":"http://qmro.qmul.ac.uk/xmlui/handle/123456789/14110","pdf_url":null,"source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"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 Proceeding"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:openaire/fc511e95-f093-4037-8be5-20ecc5ad5f80","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/fc511e95-f093-4037-8be5-20ecc5ad5f80","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/49857964/ICRA16_2042.6k6Lw.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sadati, S, Shiva, A, Rizqi, A A A, Naghibi, S E, Walker, I, Althoefer, K A & Nanayakkara, T 2016, A Geometry Deformation Model for Compound Continuum Manipulators with External Loading. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2016-June, 7487702, pp. 4957-4962, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 16/05/2016. https://doi.org/10.1109/ICRA.2016.7487702","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2414073787.pdf","grobid_xml":"https://content.openalex.org/works/W2414073787.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1590804794","https://openalex.org/W1593804296","https://openalex.org/W1698466078","https://openalex.org/W1771073220","https://openalex.org/W1992381595","https://openalex.org/W1995166423","https://openalex.org/W1996023871","https://openalex.org/W2010745100","https://openalex.org/W2015106839","https://openalex.org/W2039286876","https://openalex.org/W2046748649","https://openalex.org/W2048267518","https://openalex.org/W2070099904","https://openalex.org/W2070348594","https://openalex.org/W2071188031","https://openalex.org/W2091761952","https://openalex.org/W2101667962","https://openalex.org/W2124540383","https://openalex.org/W2131451054","https://openalex.org/W2135275888","https://openalex.org/W2135485145","https://openalex.org/W2160229137","https://openalex.org/W2160249763","https://openalex.org/W2534663435","https://openalex.org/W3151286252"],"related_works":["https://openalex.org/W154213733","https://openalex.org/W4252851206","https://openalex.org/W2391508618","https://openalex.org/W2607470227","https://openalex.org/W2372393350","https://openalex.org/W4205332712","https://openalex.org/W2770996766","https://openalex.org/W3021719365","https://openalex.org/W1253671258","https://openalex.org/W2898458249"],"abstract_inverted_index":{"The":[0],"complexity":[1],"of":[2,43,58,86,94],"soft":[3,89,126,156],"continuum":[4,67],"manipulators":[5,157],"with":[6,108,129,158],"hybrid":[7],"and":[8,25,30,46,74,96],"tuneable":[9],"structures":[10],"poses":[11],"a":[12,36,47,64,71,87,120,142],"challenging":[13],"task":[14],"to":[15,81,154],"achieve":[16],"an":[17],"inverse":[18,55],"kinematics":[19,56],"model":[20,57,140],"which":[21,62,99,151],"is":[22,51,63,100,152],"both":[23],"precise":[24],"computationally":[26,75],"efficient":[27,76],"for":[28,53,112,124,146],"control":[29,155],"optimization":[31],"purposes.":[32],"In":[33,115],"this":[34],"paper,":[35],"new":[37,121],"method":[38],"based":[39],"on":[40],"the":[41,54,59,83,92,116,136,147],"principle":[42],"virtual":[44],"work":[45],"geometry":[48],"deformation":[49,150],"approach":[50,123],"presented":[52],"STIFF-FLOP":[60],"arm":[61],"pneumatically":[65],"actuated":[66],"manipulator.":[68],"We":[69],"propose":[70],"novel":[72],"simplified":[73],"yet":[77],"accurate":[78],"analytical":[79,144],"solution":[80,145],"analyse":[82],"static":[84],"behaviour":[85],"compound":[88],"manipulator":[90],"in":[91],"presence":[93],"external":[95],"body":[97],"forces":[98],"verified":[101],"against":[102],"experimental":[103],"data,":[104],"showing":[105],"promising":[106],"agreement":[107],"10%":[109],"mean":[110],"error":[111],"planar":[113],"movements.":[114],"process,":[117],"we":[118],"present":[119],"modelling":[122],"braided":[125],"extensor":[127],"actuators":[128],"no":[130],"braid-surface":[131],"relative":[132],"slip":[133],"constraint.":[134],"For":[135],"first":[137],"time,":[138],"our":[139],"predicts":[141],"simple":[143],"cross":[148],"section":[149],"essential":[153],"regional":[159],"tunable":[160],"stiffness":[161],"structure.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4}],"updated_date":"2026-03-21T08:13:44.787528","created_date":"2025-10-10T00:00:00"}
