{"id":"https://openalex.org/W2057371225","doi":"https://doi.org/10.1109/iros.2011.6094477","title":"Novel modal approach for kinematics of multisection continuum arms","display_name":"Novel modal approach for kinematics of multisection continuum arms","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2057371225","doi":"https://doi.org/10.1109/iros.2011.6094477","mag":"2057371225"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094477","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5026038506","display_name":"Isuru S. Godage","orcid":"https://orcid.org/0000-0001-6112-0813"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"I. S. Godage","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032583298","display_name":"E. Guglielmino","orcid":"https://orcid.org/0000-0001-7793-7406"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"E. Guglielmino","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002192089","display_name":"David T. Branson","orcid":"https://orcid.org/0000-0001-5818-666X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"D. T. Branson","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074015451","display_name":"Gustavo A. Medrano\u2010Cerda","orcid":"https://orcid.org/0000-0002-6340-3443"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. A. Medrano-Cerda","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"D. G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026038506"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":11.0865,"has_fulltext":false,"cited_by_count":96,"citation_normalized_percentile":{"value":0.9842129,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1093","last_page":"1098"},"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":0.9923999905586243,"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":0.9907000064849854,"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/kinematics","display_name":"Kinematics","score":0.7902984023094177},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6937710642814636},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.6680170297622681},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5456136465072632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4929544925689697},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34593862295150757},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3312215805053711},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3065345883369446},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27618277072906494},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2561222016811371},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25079381465911865}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7902984023094177},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6937710642814636},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6680170297622681},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5456136465072632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4929544925689697},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34593862295150757},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3312215805053711},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3065345883369446},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27618277072906494},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2561222016811371},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25079381465911865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094477","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W59322170","https://openalex.org/W1528850474","https://openalex.org/W1560270123","https://openalex.org/W1564897360","https://openalex.org/W1675003565","https://openalex.org/W2049460350","https://openalex.org/W2067243719","https://openalex.org/W2067293954","https://openalex.org/W2070122598","https://openalex.org/W2096645690","https://openalex.org/W2098596651","https://openalex.org/W2101667962","https://openalex.org/W2112248299","https://openalex.org/W2124540383","https://openalex.org/W2137670317","https://openalex.org/W2151553327","https://openalex.org/W2152205882","https://openalex.org/W2160229137","https://openalex.org/W2241606133","https://openalex.org/W2610914687","https://openalex.org/W4285719527","https://openalex.org/W6662870376","https://openalex.org/W6667741356","https://openalex.org/W6690315588"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,31,108,118],"new":[4],"three":[5],"dimensional":[6],"(3D)":[7],"kinematic":[8],"model":[9,50,101],"based":[10,106],"on":[11,107],"mode":[12,42],"shape":[13],"functions":[14],"(MSF)":[15],"for":[16,34,64,76,94],"multisection":[17,69],"continuum":[18,70,110,122],"arms.":[19,71],"It":[20],"solves":[21],"the":[22,65,80],"singularity":[23],"problems":[24],"associated":[25],"with":[26],"previous":[27],"models":[28],"and":[29,45,59,90,97],"introduces":[30,60],"novel":[32],"approach":[33,114],"intuitively":[35],"deriving":[36],"exact,":[37],"singularity-free":[38],"MSFs,":[39],"thus":[40],"avoiding":[41],"switching":[43],"schemes":[44],"simplifying":[46],"error":[47],"models.":[48],"The":[49,100],"is":[51,102,115],"able":[52],"to":[53,68,83,117],"simulate":[54],"spatial":[55],"bending,":[56],"pure":[57],"elongation/contraction,":[58],"inverse":[61,98],"orientation":[62],"kinematics":[63],"first":[66],"time":[67],"Also,":[72],"it":[73],"carefully":[74],"accounts":[75],"physical":[77],"constraints":[78],"in":[79],"joint":[81],"space":[82],"provide":[84],"enhanced":[85],"insight":[86],"into":[87],"practical":[88],"mechanics,":[89],"produces":[91],"correct":[92],"results":[93],"both":[95],"forward":[96],"kinematics.":[99],"validated":[103],"through":[104],"simulations,":[105],"prototype":[109],"robotic":[111,123],"arm.":[112],"Proposed":[113],"applicable":[116],"broad":[119],"spectrum":[120],"of":[121],"arm":[124],"designs.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}