{"id":"https://openalex.org/W1999914576","doi":"https://doi.org/10.1109/iros.2014.6942892","title":"Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalism","display_name":"Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalism","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1999914576","doi":"https://doi.org/10.1109/iros.2014.6942892","mag":"1999914576"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5058247503","display_name":"Valentin Falkenhahn","orcid":"https://orcid.org/0000-0003-2855-9087"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Valentin Falkenhahn","raw_affiliation_strings":["Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany","Institute for System Dynamics (ISYS), University of Stuttgart, D-70569, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for System Dynamics (ISYS), University of Stuttgart, D-70569, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063572867","display_name":"Tobias Mahl","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Mahl","raw_affiliation_strings":["Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany","Institute for System Dynamics (ISYS), University of Stuttgart, D-70569, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for System Dynamics (ISYS), University of Stuttgart, D-70569, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090680559","display_name":"Alexander Hildebrandt","orcid":"https://orcid.org/0000-0003-3560-1642"},"institutions":[{"id":"https://openalex.org/I134656947","display_name":"Esslingen University of Applied Sciences","ror":"https://ror.org/056cezx90","country_code":"DE","type":"education","lineage":["https://openalex.org/I134656947"]},{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Hildebrandt","raw_affiliation_strings":["Research Mechatronics, Festo AG & Co. KG, Esslingen-Berkheim, Germany","Research Mechatronics, Festo AG & Co. KG, D-73734 Esslingen-Berkheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Mechatronics, Festo AG & Co. KG, Esslingen-Berkheim, Germany","institution_ids":["https://openalex.org/I134656947"]},{"raw_affiliation_string":"Research Mechatronics, Festo AG & Co. KG, D-73734 Esslingen-Berkheim, Germany","institution_ids":["https://openalex.org/I4210158977"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113436450","display_name":"R\u00fcdiger Neumann","orcid":null},"institutions":[{"id":"https://openalex.org/I134656947","display_name":"Esslingen University of Applied Sciences","ror":"https://ror.org/056cezx90","country_code":"DE","type":"education","lineage":["https://openalex.org/I134656947"]},{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudiger Neumann","raw_affiliation_strings":["Research Mechatronics, Festo AG & Co. KG, Esslingen-Berkheim, Germany","Research Mechatronics, Festo AG & Co. KG, D-73734 Esslingen-Berkheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Mechatronics, Festo AG & Co. KG, Esslingen-Berkheim, Germany","institution_ids":["https://openalex.org/I134656947"]},{"raw_affiliation_string":"Research Mechatronics, Festo AG & Co. KG, D-73734 Esslingen-Berkheim, Germany","institution_ids":["https://openalex.org/I4210158977"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany","Institute for System Dynamics (ISYS), University of Stuttgart, D-70569, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for System Dynamics (ISYS), University of Stuttgart, D-70569, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5009,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.88372959,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2428","last_page":"2433"},"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":0.9847000241279602,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9807999730110168,"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":0.6361303925514221},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.621301531791687},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5789762139320374},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5274707674980164},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.47346654534339905},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.45819008350372314},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.45021963119506836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44063615798950195},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3782852590084076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36800193786621094},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3132581114768982},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1678861379623413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0970798134803772}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6361303925514221},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.621301531791687},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5789762139320374},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5274707674980164},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.47346654534339905},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.45819008350372314},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.45021963119506836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44063615798950195},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3782852590084076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36800193786621094},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3132581114768982},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1678861379623413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0970798134803772},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":17,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1970557511","https://openalex.org/W2001803686","https://openalex.org/W2007443511","https://openalex.org/W2024931364","https://openalex.org/W2053614949","https://openalex.org/W2095462685","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2114779486","https://openalex.org/W2131451054","https://openalex.org/W2135485145","https://openalex.org/W2144908914","https://openalex.org/W2152205882","https://openalex.org/W2158730742","https://openalex.org/W2168395540","https://openalex.org/W2544405241"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W2152432594","https://openalex.org/W3111769232","https://openalex.org/W2948699889","https://openalex.org/W2044124817"],"abstract_inverted_index":{"Dynamic":[0],"models":[1],"of":[2,43,87],"continuum":[3,39],"manipulators":[4,13],"tend":[5],"to":[6,68,100],"become":[7],"very":[8],"complex,":[9],"especially":[10],"for":[11,27,52,112],"spatial":[12],"with":[14],"multiple":[15],"sections.":[16],"Therefore":[17],"a":[18,38,44,69],"practicable":[19],"model":[20,95],"is":[21],"needed":[22,111],"that":[23,41,96],"can":[24,97],"be":[25,98],"used":[26,99],"simulations":[28],"and":[29,36,64,83,105],"model-based":[30,113],"control":[31],"design.":[32,115],"Neglecting":[33],"rotational":[34],"energies":[35],"assuming":[37],"manipulator":[40,90],"consists":[42],"single":[45],"concentrated":[46],"mass":[47],"per":[48],"section,":[49],"dynamic":[50,94],"equations":[51],"each":[53],"actuator":[54],"state":[55],"are":[56,66],"derived":[57],"using":[58,73],"the":[59,74,92,103,107],"Euler-Lagrange":[60],"formalism.":[61],"Forces,":[62],"positions":[63],"velocities":[65],"transformed":[67],"global":[70],"reference":[71],"system":[72],"homogeneous":[75],"transformation":[76],"based":[77],"on":[78],"constant":[79],"curvature":[80],"robot":[81,109],"kinematics":[82],"its":[84],"derivatives.":[85],"Measurements":[86],"an":[88],"example":[89],"verify":[91],"resulting":[93],"both":[101],"simulate":[102],"dynamics":[104,110],"calculate":[106],"inverted":[108],"controller":[114]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
