{"id":"https://openalex.org/W4285035863","doi":"https://doi.org/10.1109/icra46639.2022.9812074","title":"A Switchable Rigid-Continuum Robot Arm: Design and Testing","display_name":"A Switchable Rigid-Continuum Robot Arm: Design and Testing","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285035863","doi":"https://doi.org/10.1109/icra46639.2022.9812074"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812074","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5100446064","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0001-9301-5989"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["Aarhus University,Department of Mechanical and Production Engineering","Department of Mechanical and Production Engineering, Aarhus University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aarhus University,Department of Mechanical and Production Engineering","institution_ids":["https://openalex.org/I204337017"]},{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073685022","display_name":"Zhengxue Zhou","orcid":"https://orcid.org/0000-0001-9478-9361"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Zhengxue Zhou","raw_affiliation_strings":["Aarhus University,Department of Mechanical and Production Engineering","Department of Mechanical and Production Engineering, Aarhus University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aarhus University,Department of Mechanical and Production Engineering","institution_ids":["https://openalex.org/I204337017"]},{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102724330","display_name":"Xingyu Yang","orcid":"https://orcid.org/0000-0002-7043-4686"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Xingyu Yang","raw_affiliation_strings":["Aarhus University,Department of Mechanical and Production Engineering","Department of Mechanical and Production Engineering, Aarhus University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aarhus University,Department of Mechanical and Production Engineering","institution_ids":["https://openalex.org/I204337017"]},{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100719433","display_name":"Xuping Zhang","orcid":"https://orcid.org/0000-0002-7498-495X"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Xuping Zhang","raw_affiliation_strings":["Aarhus University,Department of Mechanical and Production Engineering","Department of Mechanical and Production Engineering, Aarhus University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aarhus University,Department of Mechanical and Production Engineering","institution_ids":["https://openalex.org/I204337017"]},{"raw_affiliation_string":"Department of Mechanical and Production Engineering, Aarhus University","institution_ids":["https://openalex.org/I204337017"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204337017"],"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":"5162","last_page":"5169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9944999814033508,"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":0.9781000018119812,"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/workspace","display_name":"Workspace","score":0.7901120185852051},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7743736505508423},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6954461336135864},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5907118916511536},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5379465222358704},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.5035321116447449},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4957776963710785},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.4935187101364136},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4929788112640381},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48975396156311035},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4884156584739685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4711396098136902},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.42583560943603516},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40128493309020996},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31338346004486084},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2515895366668701},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2363819181919098},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2085326910018921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1962031126022339},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14924874901771545}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7901120185852051},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7743736505508423},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6954461336135864},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5907118916511536},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5379465222358704},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.5035321116447449},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4957776963710785},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.4935187101364136},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4929788112640381},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48975396156311035},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4884156584739685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4711396098136902},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.42583560943603516},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40128493309020996},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31338346004486084},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2515895366668701},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2363819181919098},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2085326910018921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1962031126022339},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14924874901771545},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9812074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812074","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/2b810fa0-98ff-4fda-980b-66f9b7af9420","is_oa":false,"landing_page_url":"https://pure.au.dk/portal/en/publications/2b810fa0-98ff-4fda-980b-66f9b7af9420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, H, Zhou, Z, Yang, X & Zhang, X 2022, A Switchable Rigid-Continuum Robot Arm: Design and Testing. in 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE, pp. 5162-5169, 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, Pennsylvania, United States, 23/05/2022. https://doi.org/10.1109/ICRA46639.2022.9812074","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W1489545255","https://openalex.org/W1501620382","https://openalex.org/W2049460350","https://openalex.org/W2075412946","https://openalex.org/W2101667962","https://openalex.org/W2116144804","https://openalex.org/W2124540383","https://openalex.org/W2133997127","https://openalex.org/W2142271163","https://openalex.org/W2164630694","https://openalex.org/W2184993170","https://openalex.org/W2207568557","https://openalex.org/W2218460536","https://openalex.org/W2337157527","https://openalex.org/W2525235479","https://openalex.org/W2559753095","https://openalex.org/W2736778426","https://openalex.org/W2746200739","https://openalex.org/W2792288577","https://openalex.org/W2895232491","https://openalex.org/W2897105865","https://openalex.org/W2906434407","https://openalex.org/W2909729638","https://openalex.org/W2940726020","https://openalex.org/W2968782730","https://openalex.org/W3017043291","https://openalex.org/W3045785884","https://openalex.org/W3194607169","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W2124086581","https://openalex.org/W153713038","https://openalex.org/W841410736","https://openalex.org/W2257897720","https://openalex.org/W2139206564","https://openalex.org/W4231506980","https://openalex.org/W3156118562","https://openalex.org/W3044674998","https://openalex.org/W2112883795","https://openalex.org/W4376456253"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,18,137,238],"novel":[4,24,226],"robot":[5,15,20,25,44,67,82,167,227],"arm":[6,16,26,45,68,83,228],"that":[7,176],"is":[8,46,69,84,93,194,211,229],"capable":[9,70,85,230],"of":[10,42,51,65,71,78,80,139,164,188,208],"switching":[11,243],"between":[12,99,244],"rigid":[14,107,117,209,246],"and":[17,32,38,56,73,102,108,114,118,123,128,147,160,172,185,235,247],"continuum":[19,57,63,109,119,189,215,248],"arm.":[21,168],"Therefore,":[22,223],"the":[23,43,62,66,76,81,97,112,132,144,155,157,161,165,170,177,186,192,198,202,206,214,219,224,242,245],"can":[27,180],"perform":[28],"adaptive":[29,233],"physical":[30],"interaction":[31,234],"manipulation":[33,236],"against":[34],"complex":[35],"working":[36],"environments":[37],"tasks.":[39],"The":[40],"switch-ability":[41],"achieved":[47],"with":[48,60,125,197],"two":[49],"types":[50],"joints:":[52],"knee-like":[53,178],"flexible":[54,58],"joints":[55,100,179],"joints,":[59],"which":[61],"segment":[64,190],"locking":[72],"losing,":[74],"hence":[75],"degree":[77],"freedom":[79],"to":[86,153,231],"be":[87],"switched.":[88],"In":[89],"this":[90],"work,":[91],"kinematics":[92],"established":[94,133],"for":[95],"specifying":[96],"relationship":[98],"space":[101],"global":[103],"coordinates":[104],"in":[105,116,237],"both":[106],"configurations.":[110,249],"Then,":[111],"posture":[113],"workspace":[115],"configurations":[120],"are":[121],"analyzed":[122],"illustrated":[124],"numerical":[126,171],"simulations,":[127],"compared":[129],"based":[130,217],"on":[131,218],"kinematic":[134,158],"model.":[135,204],"Finally,":[136],"series":[138],"preliminary":[140],"experimental":[141,173],"testing":[142,193],"toward":[143],"joint":[145],"motion":[146,162,183,187,199],"stiffness":[148,207,220],"has":[149],"been":[150],"carried":[151],"out":[152],"validate":[154],"design,":[156],"model,":[159],"performance":[163],"proposed":[166,225],"Both":[169],"results":[174],"show":[175],"guarantee":[181],"favorable":[182],"accuracy,":[184],"from":[191,201],"well":[195],"aligned":[196],"calculated":[200],"theoretical":[203],"Moreover,":[205],"configuration":[210,216],"larger":[212],"than":[213],"experiment":[221],"results.":[222],"handle":[232],"diverse":[239],"environment":[240],"through":[241]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}