{"id":"https://openalex.org/W4285102167","doi":"https://doi.org/10.1109/icra46639.2022.9812098","title":"Forward Kinematics and Control of a Segmented Tunable-Stiffness 3-D Continuum Manipulator","display_name":"Forward Kinematics and Control of a Segmented Tunable-Stiffness 3-D Continuum Manipulator","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102167","doi":"https://doi.org/10.1109/icra46639.2022.9812098"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812098","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/bitstreams/06970820-10a1-4ad9-810d-8a44182b692a/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079867955","display_name":"Shivangi Misra","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shivangi Misra","raw_affiliation_strings":["The University of Pennsylvania,General Robotics, Automation, Sensing &#x0026; Perception (GRASP) Lab,Philadelphia,PA,USA"],"affiliations":[{"raw_affiliation_string":"The University of Pennsylvania,General Robotics, Automation, Sensing &#x0026; Perception (GRASP) Lab,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011962400","display_name":"Cynthia Sung","orcid":"https://orcid.org/0000-0002-8967-1841"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cynthia Sung","raw_affiliation_strings":["The University of Pennsylvania,General Robotics, Automation, Sensing &#x0026; Perception (GRASP) Lab,Philadelphia,PA,USA"],"affiliations":[{"raw_affiliation_string":"The University of Pennsylvania,General Robotics, Automation, Sensing &#x0026; Perception (GRASP) Lab,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079867955"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.6415,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.594003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"29","issue":null,"first_page":"3238","last_page":"3244"},"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":0.9936000108718872,"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":0.9692000150680542,"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":0.8003920316696167},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6785143613815308},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.654343843460083},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6121289730072021},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5040308833122253},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4684961438179016},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4621181786060333},{"id":"https://openalex.org/keywords/shearing","display_name":"Shearing (physics)","score":0.4285542666912079},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4193200469017029},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4142998158931732},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.3637407124042511},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27672451734542847},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2499730885028839},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2408345639705658},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.227037250995636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21164444088935852},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.20064669847488403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1182841956615448}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8003920316696167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6785143613815308},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.654343843460083},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6121289730072021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5040308833122253},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4684961438179016},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4621181786060333},{"id":"https://openalex.org/C152279782","wikidata":"https://www.wikidata.org/wiki/Q13583542","display_name":"Shearing (physics)","level":2,"score":0.4285542666912079},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4193200469017029},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4142998158931732},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.3637407124042511},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27672451734542847},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2499730885028839},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2408345639705658},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.227037250995636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21164444088935852},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.20064669847488403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1182841956615448},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9812098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812098","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:repository.upenn.edu:grasp_papers-1071","is_oa":true,"landing_page_url":"https://repository.upenn.edu/grasp_papers/69","pdf_url":"https://repository.upenn.edu/bitstreams/06970820-10a1-4ad9-810d-8a44182b692a/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lab Papers (GRASP)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/34823","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/34823","pdf_url":null,"source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:grasp_papers-1071","is_oa":true,"landing_page_url":"https://repository.upenn.edu/grasp_papers/69","pdf_url":"https://repository.upenn.edu/bitstreams/06970820-10a1-4ad9-810d-8a44182b692a/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Lab Papers (GRASP)","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5694133943","display_name":null,"funder_award_id":"1845339","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5983911137","display_name":null,"funder_award_id":"W911NF1810327","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285102167.pdf","grobid_xml":"https://content.openalex.org/works/W4285102167.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1826399803","https://openalex.org/W1972657015","https://openalex.org/W2054427316","https://openalex.org/W2056191762","https://openalex.org/W2079574144","https://openalex.org/W2101667962","https://openalex.org/W2112650079","https://openalex.org/W2135485145","https://openalex.org/W2156723291","https://openalex.org/W2596957564","https://openalex.org/W2734643885","https://openalex.org/W2763080578","https://openalex.org/W2782435507","https://openalex.org/W2794117740","https://openalex.org/W2800895394","https://openalex.org/W2906749371","https://openalex.org/W2912560139","https://openalex.org/W3004072382","https://openalex.org/W3004346720","https://openalex.org/W3005284536","https://openalex.org/W3015147753","https://openalex.org/W3016039917","https://openalex.org/W3038104529","https://openalex.org/W3039737594","https://openalex.org/W3089774180","https://openalex.org/W3098457568","https://openalex.org/W3127964809","https://openalex.org/W3138634296"],"related_works":["https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W1971821535","https://openalex.org/W2811382984","https://openalex.org/W2119719871","https://openalex.org/W2375200650","https://openalex.org/W2366276599","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W3047523153"],"abstract_inverted_index":{"In":[0],"this":[1,91,117],"work,":[2],"we":[3,88,119],"consider":[4],"the":[5,9,24,47,82,124],"problem":[6],"of":[7,13,26,67,74,77,84,110],"controlling":[8],"end":[10],"effector":[11],"position":[12],"a":[14,64,68,72,94,121,128,138],"continuum":[15,69],"manipulator":[16,70],"through":[17],"local":[18,41,53],"stiffness":[19,54],"changes.":[20],"Continuum":[21],"manipulators":[22],"offer":[23],"advantage":[25],"continuous":[27],"deformation":[28],"along":[29],"their":[30],"lengths,":[31],"and":[32,87,131,148],"recent":[33],"advances":[34],"in":[35,146],"smart":[36],"material":[37],"actuators":[38],"further":[39],"enable":[40],"compliance":[42],"changes,":[43],"which":[44],"can":[45],"affect":[46],"manipulator's":[48],"bulk":[49],"motion.":[50],"However,":[51],"leveraging":[52],"change":[55],"to":[56,98,137,150],"control":[57],"motion":[58],"remains":[59],"lightly":[60],"explored.":[61],"We":[62],"build":[63],"kinematic":[65],"model":[66,103],"as":[71,108],"sequence":[73],"segments":[75],"consisting":[76],"symmetrically":[78],"arranged":[79],"springs":[80],"around":[81],"perimeter":[83],"every":[85],"segment,":[86],"show":[89],"that":[90],"system":[92],"has":[93],"closed":[95],"form":[96],"solution":[97],"its":[99],"forward":[100],"kinematics.":[101],"The":[102,142],"includes":[104],"common":[105],"constraints":[106],"such":[107],"restriction":[109],"torsional":[111],"or":[112],"shearing":[113],"movement.":[114],"Based":[115],"on":[116,123,135],"model,":[118],"propose":[120],"controller":[122],"spring":[125],"stiffnesses":[126],"for":[127],"single":[129],"segment":[130],"provide":[132],"provable":[133],"guarantees":[134],"convergence":[136],"desired":[139],"goal":[140],"position.":[141],"results":[143],"are":[144],"verified":[145],"simulation":[147],"compared":[149],"physical":[151],"hardware.":[152]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
