{"id":"https://openalex.org/W3004346720","doi":"https://doi.org/10.1109/iros40897.2019.8968526","title":"A 3D Static Modeling Method and Experimental Verification of Continuum Robots Based on Pseudo-Rigid Body Theory","display_name":"A 3D Static Modeling Method and Experimental Verification of Continuum Robots Based on Pseudo-Rigid Body Theory","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004346720","doi":"https://doi.org/10.1109/iros40897.2019.8968526","mag":"3004346720"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5065975114","display_name":"Shaoping Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoping Huang","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University,Shenzhen,China,518055","Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010130426","display_name":"Deshan Meng","orcid":"https://orcid.org/0000-0002-9588-6662"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deshan Meng","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University,Shenzhen,China,518055","Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737125","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-3542-0593"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Graduate School at Shenzhen, Tsinghua University,Shenzhen,China,518055","Graduate School at Shenzhen, Tsinghua University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Graduate School at Shenzhen, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084","Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075352865","display_name":"Weining Lu","orcid":"https://orcid.org/0000-0002-0927-1259"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weining Lu","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084","Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7946,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.84408606,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4672","last_page":"4677"},"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":0.9850999712944031,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9656000137329102,"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/statics","display_name":"Statics","score":0.8969697952270508},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6418523788452148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5408845543861389},{"id":"https://openalex.org/keywords/bending-moment","display_name":"Bending moment","score":0.5309839844703674},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4572647511959076},{"id":"https://openalex.org/keywords/internal-forces","display_name":"Internal forces","score":0.4492926001548767},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.43800753355026245},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.34086883068084717},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3227333426475525},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2588028311729431},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2351631224155426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2274552881717682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13523125648498535},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13049259781837463}],"concepts":[{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.8969697952270508},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6418523788452148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5408845543861389},{"id":"https://openalex.org/C70673446","wikidata":"https://www.wikidata.org/wiki/Q857244","display_name":"Bending moment","level":2,"score":0.5309839844703674},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4572647511959076},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.4492926001548767},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.43800753355026245},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.34086883068084717},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3227333426475525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2588028311729431},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2351631224155426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2274552881717682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13523125648498535},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13049259781837463},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1482277461","https://openalex.org/W1595857058","https://openalex.org/W1891615552","https://openalex.org/W1987370018","https://openalex.org/W2001803686","https://openalex.org/W2006573361","https://openalex.org/W2029135435","https://openalex.org/W2053614949","https://openalex.org/W2058004183","https://openalex.org/W2095462685","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2118997958","https://openalex.org/W2119531408","https://openalex.org/W2125860604","https://openalex.org/W2126182407","https://openalex.org/W2142271163","https://openalex.org/W2147492425","https://openalex.org/W2160825462","https://openalex.org/W2525425589","https://openalex.org/W2613919486","https://openalex.org/W2731664836","https://openalex.org/W2901506159","https://openalex.org/W2911226473","https://openalex.org/W3102081270"],"related_works":["https://openalex.org/W24726393","https://openalex.org/W2369404512","https://openalex.org/W2963114044","https://openalex.org/W4251783588","https://openalex.org/W2350750803","https://openalex.org/W2360821950","https://openalex.org/W2367946479","https://openalex.org/W2363322627","https://openalex.org/W3088101028","https://openalex.org/W2354391351"],"abstract_inverted_index":{"Continuum":[0],"robots":[1],"composed":[2,46],"of":[3,22,42,47,62,75,112,129,136,142,163,177,191],"elastic":[4,49,138,165],"backbones":[5],"have":[6],"a":[7,107],"broad":[8],"application":[9],"prospect":[10],"in":[11,37,59,100],"the":[12,20,38,43,48,60,72,76,91,125,137,140,143,154,160,164,178,186,192],"narrow":[13],"and":[14,30,40,79,95,132,170,208],"restricted":[15],"environment":[16],"because":[17],"they":[18],"overcome":[19],"disadvantages":[21],"traditional":[23],"articulated":[24],"robots,":[25],"such":[26],"as":[27],"being":[28],"bulky":[29],"inflexible.":[31],"Statics":[32],"plays":[33],"an":[34],"important":[35],"role":[36],"planning":[39],"control":[41],"continuum":[44,114,144,180],"robot":[45,115,145,181],"backbone.":[50],"Pseudo-Rigid":[51],"Body":[52],"(PRB)":[53],"theory":[54,120],"has":[55,80],"shown":[56],"great":[57],"potential":[58],"description":[61],"flexible":[63,77],"body":[64,78],"statics.":[65,103],"The":[66,148,189,202],"PRB":[67,85,118],"3R":[68,86,119],"model":[69],"accurately":[70],"describes":[71],"large":[73],"deformation":[74],"high":[81],"computational":[82],"efficiency.":[83],"However,":[84],"models":[87],"mostly":[88],"focus":[89],"on":[90,117],"planar":[92],"static":[93,109,150,173],"modeling,":[94],"there":[96],"are":[97],"few":[98],"applications":[99],"three-dimensional":[101],"(3D)":[102],"In":[104],"this":[105],"paper,":[106],"3D":[108,149],"modeling":[110],"method":[111,156,194],"cable-driven":[113,179],"based":[116],"is":[121,146,182,195,211],"proposed.":[122],"By":[123],"introducing":[124],"equilibrium":[126],"constraint":[127],"equations":[128,151],"resultant":[130],"force/moment":[131],"bending":[133],"plane":[134],"normal":[135],"backbone,":[139],"state":[141],"determined.":[147],"established":[152],"by":[153,197],"proposed":[155,187,193],"take":[157],"into":[158],"account":[159],"comprehensive":[161],"effects":[162],"force,":[166,168],"external":[167],"gravity":[169],"friction.":[171],"A":[172],"verification":[174],"experiment":[175],"system":[176],"designed":[183],"to":[184],"verify":[185],"method.":[188],"accuracy":[190],"verified":[196],"comparison":[198],"with":[199],"experimental":[200,209],"data.":[201],"maximum":[203],"position":[204],"error":[205],"between":[206],"simulation":[207],"results":[210],"7.6%.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}