{"id":"https://openalex.org/W2908521626","doi":"https://doi.org/10.1109/iros.2018.8593592","title":"Magnetic-Field-Inspired Navigation for Soft Continuum Manipulator","display_name":"Magnetic-Field-Inspired Navigation for Soft Continuum Manipulator","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908521626","doi":"https://doi.org/10.1109/iros.2018.8593592","mag":"2908521626"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/57803/2/Rizqi%20Magnetic-field-inspired%202019%20Accepted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043069972","display_name":"Ahmad Ataka","orcid":"https://orcid.org/0000-0003-3082-5778"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"A. Ataka","raw_affiliation_strings":["Department of Informatics, The Centre for Robotics Research(CoRe), London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, The Centre for Robotics Research(CoRe), London, United Kingdom","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007795220","display_name":"Ali Shiva","orcid":"https://orcid.org/0000-0002-5387-5586"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"A. Shiva","raw_affiliation_strings":["Department of Informatics, The Centre for Robotics Research(CoRe), London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, The Centre for Robotics Research(CoRe), London, United Kingdom","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059514204","display_name":"Hak\u2010Keung Lam","orcid":"https://orcid.org/0000-0002-6572-7265"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H.K. Lam","raw_affiliation_strings":["Department of Informatics, The Centre for Robotics Research(CoRe), London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, The Centre for Robotics Research(CoRe), London, United Kingdom","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"K. Althoefer","raw_affiliation_strings":["Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043069972"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4456,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.63072932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"18","issue":null,"first_page":"168","last_page":"173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.994700014591217,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9886000156402588,"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":0.6941957473754883},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6363003253936768},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5987077355384827},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.5007083415985107},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.46247991919517517},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.4522753357887268},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.43522346019744873},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41275230050086975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3695301413536072},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36067575216293335},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32005852460861206},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2046605944633484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15227198600769043},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1428547203540802},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08416402339935303}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6941957473754883},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6363003253936768},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5987077355384827},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.5007083415985107},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.46247991919517517},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.4522753357887268},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.43522346019744873},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41275230050086975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3695301413536072},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36067575216293335},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32005852460861206},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2046605944633484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15227198600769043},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1428547203540802},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08416402339935303},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8593592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/57803","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/57803","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/57803/2/Rizqi%20Magnetic-field-inspired%202019%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/70113","is_oa":false,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/70113","pdf_url":null,"source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/57803","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/57803","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/57803/2/Rizqi%20Magnetic-field-inspired%202019%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G3739141303","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G3761795683","display_name":null,"funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320285","display_name":"King's College London","ror":"https://ror.org/0220mzb33"},{"id":"https://openalex.org/F4320330083","display_name":"National Centre for Nuclear Robotics","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2908521626.pdf","grobid_xml":"https://content.openalex.org/works/W2908521626.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W211346643","https://openalex.org/W1502308290","https://openalex.org/W1567167040","https://openalex.org/W1576967268","https://openalex.org/W1977785674","https://openalex.org/W2000745129","https://openalex.org/W2042803738","https://openalex.org/W2052750413","https://openalex.org/W2068019452","https://openalex.org/W2087842666","https://openalex.org/W2104332709","https://openalex.org/W2121163612","https://openalex.org/W2177274602","https://openalex.org/W2204273529","https://openalex.org/W2293478788","https://openalex.org/W2295877882","https://openalex.org/W2412166587","https://openalex.org/W2412393833","https://openalex.org/W2413886764","https://openalex.org/W2492330151","https://openalex.org/W2560100235","https://openalex.org/W2801643600","https://openalex.org/W2875890672","https://openalex.org/W6629917956","https://openalex.org/W6644866733","https://openalex.org/W6664348274","https://openalex.org/W6678398753"],"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/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W2332164895"],"abstract_inverted_index":{"Taking":[0],"inspiration":[1],"from":[2],"the":[3,39,53,60,83],"properties":[4],"of":[5,52,63],"magnetic":[6],"fields,":[7],"we":[8],"propose":[9],"a":[10,49,64,72],"reactive":[11],"navigation":[12,24],"method":[13,25],"for":[14,59,85],"soft":[15,65,74],"continuum":[16,66,75],"manipulators":[17],"operating":[18],"in":[19,41],"unknown":[20],"environments.":[21],"The":[22],"proposed":[23],"outperforms":[26],"previous":[27],"works":[28],"since":[29],"it":[30],"is":[31],"able":[32],"to":[33,88],"successfully":[34],"achieve":[35],"collision-free":[36],"movements":[37],"towards":[38],"goal":[40],"environments":[42],"with":[43,71],"convex":[44],"obstacles":[45],"without":[46],"relying":[47],"on":[48],"priori":[50],"information":[51],"obstacles'":[54],"shapes":[55],"and":[56,68,82],"locations.":[57],"Simulations":[58],"kinematic":[61],"model":[62],"manipulator":[67],"preliminary":[69],"experiments":[70],"2-segments":[73],"arm":[76],"are":[77],"performed,":[78],"showing":[79],"promising":[80],"results":[81],"potential":[84],"our":[86],"approach":[87],"be":[89],"applied":[90],"widely.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}