{"id":"https://openalex.org/W4401417124","doi":"https://doi.org/10.1109/icra57147.2024.10611372","title":"Quasi-static Path Planning for Continuum Robots By Sampling on Implicit Manifold","display_name":"Quasi-static Path Planning for Continuum Robots By Sampling on Implicit Manifold","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417124","doi":"https://doi.org/10.1109/icra57147.2024.10611372","pmid":"https://pubmed.ncbi.nlm.nih.gov/39995850"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611372","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":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11848831/pdf/nihms-2056361.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100398561","display_name":"Yifan Wang","orcid":"https://orcid.org/0000-0002-4519-7535"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yifan Wang","raw_affiliation_strings":["Georgia Institute of Technology,Department of Mechanical Engineering,Atlanta,USA,30332"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Department of Mechanical Engineering,Atlanta,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100454800","display_name":"Yue Chen","orcid":"https://orcid.org/0000-0001-9224-4165"},"institutions":[{"id":"https://openalex.org/I177855293","display_name":"Emory and Henry College","ror":"https://ror.org/018rbev86","country_code":"US","type":"education","lineage":["https://openalex.org/I177855293"]},{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yue Chen","raw_affiliation_strings":["Georgia Institute of Technology/Emory,Department of Biomedical Engineering,Atlanta,USA,30332"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology/Emory,Department of Biomedical Engineering,Atlanta,USA,30332","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I177855293"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100398561"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.5148,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64596372,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"2024","issue":null,"first_page":"8728","last_page":"8734"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6325156092643738},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5812856554985046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5587888360023499},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.5262376666069031},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5065931081771851},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.46411898732185364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23575487732887268},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2032134234905243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13329288363456726},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09205523133277893}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6325156092643738},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5812856554985046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5587888360023499},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.5262376666069031},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5065931081771851},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.46411898732185364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23575487732887268},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2032134234905243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13329288363456726},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09205523133277893},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57147.2024.10611372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611372","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"},{"id":"pmid:39995850","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39995850","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11848831","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11848831","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11848831/pdf/nihms-2056361.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11848831","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11848831","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11848831/pdf/nihms-2056361.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Robot Autom","raw_type":"Text"},"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401417124.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W240493022","https://openalex.org/W1024591929","https://openalex.org/W1524590822","https://openalex.org/W1557324374","https://openalex.org/W1971086298","https://openalex.org/W2006104867","https://openalex.org/W2006573361","https://openalex.org/W2053614949","https://openalex.org/W2087842666","https://openalex.org/W2095462685","https://openalex.org/W2103776982","https://openalex.org/W2131150943","https://openalex.org/W2133231729","https://openalex.org/W2138564331","https://openalex.org/W2184993170","https://openalex.org/W2204273529","https://openalex.org/W2342205450","https://openalex.org/W2406519259","https://openalex.org/W2742470390","https://openalex.org/W2912944518","https://openalex.org/W2969919508","https://openalex.org/W2971244547","https://openalex.org/W2973006064","https://openalex.org/W2993799976","https://openalex.org/W3003450231","https://openalex.org/W3011060864","https://openalex.org/W3137532763","https://openalex.org/W3186246039","https://openalex.org/W4285172550","https://openalex.org/W4285253626","https://openalex.org/W4292387249","https://openalex.org/W4295832068","https://openalex.org/W4301401374","https://openalex.org/W4311958976","https://openalex.org/W4366351615","https://openalex.org/W6760306564"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W8302103","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Continuum":[0],"robots":[1],"(CR)":[2],"offer":[3],"excellent":[4],"dexterity":[5],"and":[6,19,61,93,137,169,186],"compliance":[7],"in":[8,42,53,98,129,163,181],"contrast":[9],"to":[10,76,125,144,157],"rigid-link":[11],"robots,":[12],"making":[13],"them":[14],"suitable":[15],"for":[16,30],"navigating":[17],"through,":[18],"interacting":[20],"with,":[21],"confined":[22],"environments.":[23],"However,":[24],"the":[25,43,56,63,95,99,103,114,130,134,170,174],"study":[26],"of":[27,65,106,116,133,183],"path":[28,79,146],"planning":[29,80,147,158],"CRs":[31,46],"while":[32],"considering":[33],"external":[34,90],"elastic":[35,87],"contact":[36],"is":[37,69,120],"limited.":[38],"The":[39],"challenge":[40],"lies":[41],"fact":[44],"that":[45,113,173],"can":[47],"have":[48],"multiple":[49],"possible":[50],"configurations":[51,68,119],"when":[52],"contact,":[54],"rendering":[55],"forward":[57],"kinematics":[58],"not":[59],"well-defined,":[60],"characterizing":[62],"set":[64,115],"feasible":[66],"robot":[67,96,118],"non-trivial.":[70],"In":[71],"this":[72,149],"paper,":[73],"we":[74],"propose":[75,143],"perform":[77,145],"quasi-static":[78],"on":[81,148,159],"an":[82,107],"implicit":[83,160],"manifold.":[84],"We":[85,111,141],"model":[86],"obstacles":[88],"as":[89,102],"potential":[91,100],"fields":[92],"formulate":[94],"statics":[97],"field":[101],"extremal":[104],"trajectory":[105],"optimal":[108],"control":[109],"problem.":[110],"show":[112,172],"stable":[117],"a":[121,126,153],"smooth":[122],"manifold":[123,150],"diffeomorphic":[124],"submanifold":[127],"embedded":[128],"product":[131],"space":[132,179],"CR":[135],"actuation":[136],"base":[138],"internal":[139],"wrench.":[140],"then":[142],"using":[151],"AtlasRRT*,":[152],"sampling-based":[154],"planner":[155,176],"dedicated":[156],"manifolds.":[161],"Simulations":[162],"different":[164],"operation":[165],"scenarios":[166],"were":[167],"conducted":[168],"results":[171],"proposed":[175],"outperforms":[177],"Euclidean":[178],"planners":[180],"terms":[182],"success":[184],"rate":[185],"computational":[187],"efficiency.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}
