{"id":"https://openalex.org/W4401413625","doi":"https://doi.org/10.1109/icra57147.2024.10611049","title":"Kinematic Modeling and Control of a Soft Robotic Arm with Non-constant Curvature Deformation","display_name":"Kinematic Modeling and Control of a Soft Robotic Arm with Non-constant Curvature Deformation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413625","doi":"https://doi.org/10.1109/icra57147.2024.10611049"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5059406905","display_name":"Zhanchi Wang","orcid":"https://orcid.org/0000-0003-3675-1159"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhanchi Wang","raw_affiliation_strings":["School of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089761031","display_name":"Gaotian Wang","orcid":"https://orcid.org/0009-0008-6189-3873"},"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":"Gaotian Wang","raw_affiliation_strings":["University of Science and Technology of China,School of Physics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Physics","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084710341","display_name":"Xiaoping Chen","orcid":"https://orcid.org/0000-0001-8992-9286"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoping Chen","raw_affiliation_strings":["School of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057971831","display_name":"Nikolaos M. Freris","orcid":"https://orcid.org/0000-0001-6006-3001"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikolaos M. Freris","raw_affiliation_strings":["School of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2577,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.96441606,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12749","last_page":"12755"},"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":0.9983999729156494,"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":0.9909999966621399,"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/kinematics","display_name":"Kinematics","score":0.8146262168884277},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.6749551892280579},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6196218729019165},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5591325163841248},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.5505953431129456},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5497331619262695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4407207667827606},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.42769432067871094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37977951765060425},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34219640493392944},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27805936336517334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26786184310913086},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2555215656757355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25246483087539673},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20268043875694275},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16554662585258484}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8146262168884277},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.6749551892280579},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6196218729019165},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5591325163841248},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5505953431129456},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5497331619262695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4407207667827606},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.42769432067871094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37977951765060425},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34219640493392944},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27805936336517334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26786184310913086},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2555215656757355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25246483087539673},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20268043875694275},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16554662585258484},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611049","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1605573896","https://openalex.org/W1925606516","https://openalex.org/W1966141623","https://openalex.org/W1970557511","https://openalex.org/W2015106839","https://openalex.org/W2032788427","https://openalex.org/W2036784933","https://openalex.org/W2058004183","https://openalex.org/W2063797945","https://openalex.org/W2073677587","https://openalex.org/W2079574144","https://openalex.org/W2101667962","https://openalex.org/W2328731921","https://openalex.org/W2510278122","https://openalex.org/W2592294539","https://openalex.org/W2621077460","https://openalex.org/W2775361682","https://openalex.org/W2782435507","https://openalex.org/W2884288731","https://openalex.org/W2897701914","https://openalex.org/W2942096073","https://openalex.org/W2947094677","https://openalex.org/W2947205800","https://openalex.org/W2981981438","https://openalex.org/W3000160985","https://openalex.org/W3015303069","https://openalex.org/W3125605919","https://openalex.org/W3127964809","https://openalex.org/W3183945790","https://openalex.org/W4205999401","https://openalex.org/W4243385754","https://openalex.org/W4290043223","https://openalex.org/W4296781173","https://openalex.org/W4313639260","https://openalex.org/W4319663736","https://openalex.org/W6641288314"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W3111769232","https://openalex.org/W2152432594","https://openalex.org/W2948699889","https://openalex.org/W2044124817","https://openalex.org/W2150448166","https://openalex.org/W2606699054"],"abstract_inverted_index":{"The":[0,18,114],"passive":[1],"compliance":[2],"of":[3,10,57,71,76,105,118,145],"soft":[4,24,59,78],"robotic":[5,25,60],"arms":[6],"renders":[7],"the":[8,37,77,96,101,119,127,147,158],"development":[9],"accurate":[11],"kinematic":[12,55,140],"models":[13],"and":[14,65,93,132],"model-based":[15],"controllers":[16],"challenging.":[17],"most":[19],"widely":[20],"used":[21],"model":[22,121,129],"in":[23,108,157],"kinematics":[26],"assumes":[27],"Piecewise":[28],"Constant":[29],"Curvature":[30],"(PCC).":[31],"However,":[32],"PCC":[33,128],"introduces":[34],"errors":[35],"when":[36],"robot":[38,98],"is":[39,122,143],"subject":[40],"to":[41,100],"external":[42,133],"forces":[43],"or":[44],"even":[45],"gravity.":[46],"In":[47],"this":[48,84],"paper,":[49],"we":[50,136],"establish":[51],"a":[52,58,86],"three-dimensional":[53],"(3D)":[54],"representation":[56],"arm":[61],"with":[62,111],"pseudo":[63],"universal":[64],"prismatic":[66],"joints":[67],"that":[68,83,142],"are":[69],"capable":[70,144],"capturing":[72],"non-constant":[73],"curvature":[74],"deformations":[75],"segments.":[79],"We":[80],"theoretically":[81],"demonstrate":[82],"constitutes":[85],"more":[87],"general":[88],"methodology":[89],"than":[90,126],"PCC.":[91],"Simulations":[92],"experiments":[94],"on":[95],"real":[97],"attest":[99],"superior":[102],"modeling":[103],"accuracy":[104],"our":[106],"approach":[107],"3D":[109,159],"motions":[110],"unknown":[112],"loads.":[113],"maximum":[115],"position/rotation":[116],"error":[117],"proposed":[120],"verified":[123],"6.7\u00d7/4.6\u00d7":[124],"lower":[125],"considering":[130],"gravity":[131],"forces.":[134],"Furthermore,":[135],"devise":[137],"an":[138],"inverse":[139],"controller":[141],"positioning":[146],"tip,":[148],"tracking":[149],"trajectories,":[150],"as":[151,153],"well":[152],"performing":[154],"interactive":[155],"tasks":[156],"space.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}