{"id":"https://openalex.org/W2739140755","doi":"https://doi.org/10.1109/icra.2017.7989727","title":"A two-level approach for solving the inverse kinematics of an extensible soft arm considering viscoelastic behavior","display_name":"A two-level approach for solving the inverse kinematics of an extensible soft arm considering viscoelastic behavior","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739140755","doi":"https://doi.org/10.1109/icra.2017.7989727","mag":"2739140755"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100712105","display_name":"Hao Jiang","orcid":"https://orcid.org/0000-0002-6769-0785"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059406905","display_name":"Zhanchi Wang","orcid":"https://orcid.org/0000-0003-3675-1159"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanchi Wang","raw_affiliation_strings":["School of Nuclear Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Nuclear Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100738652","display_name":"Xinghua Liu","orcid":"https://orcid.org/0000-0002-2761-7006"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinghua Liu","raw_affiliation_strings":["School of Nuclear Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Nuclear Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100739427","display_name":"Xiaotong Chen","orcid":"https://orcid.org/0000-0002-6954-6234"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotong Chen","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042188753","display_name":"Yusong Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yusong Jin","raw_affiliation_strings":["School of Physics, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035243024","display_name":"Xuanke You","orcid":"https://orcid.org/0009-0007-0635-8264"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanke You","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084710341","display_name":"Xiaoping Chen","orcid":"https://orcid.org/0000-0001-8992-9286"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoping Chen","raw_affiliation_strings":["School of Computer Science, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":9.5888,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.98835623,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6127","last_page":"6133"},"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":0.9904000163078308,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9753000140190125,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7588945031166077},{"id":"https://openalex.org/keywords/extensibility","display_name":"Extensibility","score":0.6935325264930725},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6397309899330139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.63970947265625},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6168997883796692},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.5653990507125854},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5235602259635925},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5218173861503601},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.49217572808265686},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4848562479019165},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4713178277015686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4500029683113098},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4429619312286377},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3392130136489868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33176788687705994},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3292267918586731},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3202800154685974},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17740342020988464},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08792626857757568},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0755365788936615}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7588945031166077},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.6935325264930725},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6397309899330139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.63970947265625},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6168997883796692},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.5653990507125854},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5235602259635925},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5218173861503601},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.49217572808265686},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4848562479019165},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4713178277015686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4500029683113098},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4429619312286377},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3392130136489868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33176788687705994},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3292267918586731},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3202800154685974},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17740342020988464},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08792626857757568},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0755365788936615},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/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.2017.7989727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W199177729","https://openalex.org/W1499925623","https://openalex.org/W1515749184","https://openalex.org/W1579240551","https://openalex.org/W1966141623","https://openalex.org/W1970557511","https://openalex.org/W2025613329","https://openalex.org/W2057371225","https://openalex.org/W2063507564","https://openalex.org/W2065682774","https://openalex.org/W2079574144","https://openalex.org/W2080400115","https://openalex.org/W2101667962","https://openalex.org/W2156218502","https://openalex.org/W2160229137","https://openalex.org/W2522101193","https://openalex.org/W2543618707","https://openalex.org/W2592294539","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W1948607442","https://openalex.org/W3004004161","https://openalex.org/W2044615423","https://openalex.org/W4247766898","https://openalex.org/W4244765761","https://openalex.org/W2361584951","https://openalex.org/W2365327041","https://openalex.org/W4225348249","https://openalex.org/W2572731987","https://openalex.org/W1998501667"],"abstract_inverted_index":{"Soft":[0],"compliant":[1],"materials":[2],"and":[3,10,21,110],"novel":[4],"actuation":[5,99],"mechanisms":[6],"ensure":[7],"flexible":[8],"motions":[9],"high":[11],"adaptability":[12],"for":[13,36],"soft":[14,40],"robots,":[15],"but":[16],"also":[17],"increase":[18],"the":[19,48,80,89,107,115],"difficulty":[20],"complexity":[22],"of":[23,78],"constructing":[24],"control":[25,34,108,116],"systems.":[26],"In":[27,101],"this":[28],"work,":[29],"we":[30],"provide":[31],"an":[32,122],"efficient":[33],"algorithm":[35,46,117],"a":[37,104],"multi-segment":[38],"extensible":[39],"arm":[41],"in":[42],"2D":[43],"plane.":[44],"The":[45,54],"separate":[47],"inverse":[49],"kinematics":[50],"into":[51],"two":[52],"levels.":[53],"first":[55],"level":[56,82],"employs":[57],"gradient":[58],"descent":[59],"to":[60,68,72,86,98],"select":[61],"optimized":[62],"arm's":[63],"pose":[64,94],"(from":[65,95],"task":[66],"space":[67,97],"configuration":[69,96],"space)":[70],"according":[71],"designed":[73],"cost":[74],"functions.":[75],"With":[76],"consideration":[77],"viscoelasticity,":[79],"second":[81],"utilizes":[83],"neural":[84],"networks":[85],"figure":[87],"out":[88],"pressures":[90],"from":[91],"each":[92],"segment's":[93],"space).":[100],"experiments":[102],"with":[103],"physical":[105],"prototype,":[106],"accuracy":[109],"effectiveness":[111],"are":[112],"validated,":[113],"where":[114],"is":[118],"further":[119],"improved":[120],"by":[121],"optional":[123],"feedback":[124],"strategy.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}