{"id":"https://openalex.org/W3105976033","doi":"https://doi.org/10.1109/iecon43393.2020.9255340","title":"A Discrete-Jointed Robot Model Based Control Strategy for Spatial Continuum Manipulators","display_name":"A Discrete-Jointed Robot Model Based Control Strategy for Spatial Continuum Manipulators","publication_year":2020,"publication_date":"2020-10-18","ids":{"openalex":"https://openalex.org/W3105976033","doi":"https://doi.org/10.1109/iecon43393.2020.9255340","mag":"3105976033"},"language":"en","primary_location":{"id":"doi:10.1109/iecon43393.2020.9255340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9255340","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","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":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"article","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/A5056287263","display_name":"Chengshi Wang","orcid":"https://orcid.org/0000-0003-2553-5207"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chengshi Wang","raw_affiliation_strings":["Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066418363","display_name":"Chase G. Frazelle","orcid":"https://orcid.org/0000-0001-6242-953X"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chase G. Frazelle","raw_affiliation_strings":["Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007939390","display_name":"John R. Wagner","orcid":"https://orcid.org/0000-0002-5648-1152"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John R. Wagner","raw_affiliation_strings":["Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011466895","display_name":"Ian D. Walker","orcid":"https://orcid.org/0000-0002-9465-2960"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian D. Walker","raw_affiliation_strings":["Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":1.9401,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86857781,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"543","last_page":"549"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9833999872207642,"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":0.9706000089645386,"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":0.5790877938270569},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5318284630775452},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.5237162709236145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5155143737792969},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5071127414703369},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49904727935791016},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47798341512680054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4739812910556793},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.447113960981369},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3040396571159363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28814011812210083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28578153252601624},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1868550181388855},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18239963054656982},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18026188015937805},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1094992458820343}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5790877938270569},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5318284630775452},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.5237162709236145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5155143737792969},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5071127414703369},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49904727935791016},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47798341512680054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4739812910556793},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.447113960981369},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3040396571159363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28814011812210083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28578153252601624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1868550181388855},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18239963054656982},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18026188015937805},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1094992458820343},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon43393.2020.9255340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon43393.2020.9255340","pdf_url":null,"source":{"id":"https://openalex.org/S4363608618","display_name":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","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":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W1486256885","https://openalex.org/W1545263182","https://openalex.org/W1584054286","https://openalex.org/W1891615552","https://openalex.org/W1966141623","https://openalex.org/W1970557511","https://openalex.org/W1972716133","https://openalex.org/W1991723882","https://openalex.org/W2038057030","https://openalex.org/W2063797945","https://openalex.org/W2065682774","https://openalex.org/W2095462685","https://openalex.org/W2101667962","https://openalex.org/W2111392303","https://openalex.org/W2119343887","https://openalex.org/W2121817652","https://openalex.org/W2133231729","https://openalex.org/W2156218502","https://openalex.org/W2178946461","https://openalex.org/W2241606133","https://openalex.org/W2271075069","https://openalex.org/W2337157527","https://openalex.org/W2512635237","https://openalex.org/W2782435507","https://openalex.org/W2891516490","https://openalex.org/W2901797979","https://openalex.org/W2907784664","https://openalex.org/W2947094677","https://openalex.org/W2967653827","https://openalex.org/W3033227671","https://openalex.org/W4251181231","https://openalex.org/W6693787782"],"related_works":["https://openalex.org/W2030178872","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W339676884","https://openalex.org/W3134555460","https://openalex.org/W2607470227"],"abstract_inverted_index":{"In":[0],"this":[1,57],"paper,":[2],"a":[3,12,37,51,59,97,163],"novel":[4],"strategy":[5],"is":[6,64,94],"designed":[7],"for":[8,66,70,85],"trajectory":[9],"control":[10,62,92],"of":[11,43,50,134],"multi-section":[13,119,155],"continuum":[14,32,52,89,102,120,156],"robot":[15,40,53],"in":[16],"three-dimensional":[17],"space":[18],"to":[19,36,48,154],"achieve":[20],"accurate":[21],"orientation,":[22],"curvature,":[23],"and":[24,74,79,115,130,137,158],"section":[25],"length":[26,129],"tracking.":[27],"The":[28,91],"formulation":[29],"connects":[30],"the":[31,67,88,108,148],"manipulator":[33],"dynamic":[34,75],"behavior":[35],"virtual":[38,68],"discrete-jointed":[39],"whose":[41],"degrees":[42],"freedom":[44],"are":[45,77],"directly":[46],"mapped":[47],"those":[49],"section.":[54],"Based":[55],"on":[56,87,96,118],"connection,":[58],"computed":[60],"torque":[61],"architecture":[63],"developed":[65,84],"robot,":[69],"which":[71],"inverse":[72],"kinematics":[73],"equations":[76],"constructed":[78],"exploited,":[80],"with":[81,122],"appropriate":[82],"transformations":[83],"implementation":[86],"robot.":[90],"algorithm":[93],"implemented":[95],"six":[98],"degree-of-freedom":[99],"two-section":[100],"OctArm":[101],"manipulator.":[103],"Experimental":[104],"results":[105,145],"show":[106],"that":[107,147],"proposed":[109,149],"method":[110,150],"managed":[111],"simultaneous":[112],"extension/contraction,":[113],"bending,":[114],"torsion":[116],"actions":[117],"robots":[121],"decent":[123],"tracking":[124,132],"performance":[125],"(steady":[126],"state":[127],"arc":[128],"curvature":[131],"error":[133],"merely":[135],"3.3mm":[136],"0.13m":[138],"<sup":[139],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-1</sup>":[141],",":[142],"respectively).":[143],"These":[144],"demonstrate":[146],"can":[151],"be":[152],"applied":[153],"manipulators":[157],"perform":[159],"complex":[160],"maneuvers":[161],"within":[162],"nonlinear":[164],"setting.":[165]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
