{"id":"https://openalex.org/W4416749988","doi":"https://doi.org/10.1109/iros60139.2025.11246804","title":"Numerical Optimization-based Kinematics with Pose Tracking Control for Continuum Robots","display_name":"Numerical Optimization-based Kinematics with Pose Tracking Control for Continuum Robots","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749988","doi":"https://doi.org/10.1109/iros60139.2025.11246804"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5056624095","display_name":"Rui Peng","orcid":"https://orcid.org/0000-0002-8718-0619"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Rui Peng","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038402526","display_name":"Ping Deng","orcid":"https://orcid.org/0000-0001-7208-8855"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ping Deng","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104253985","display_name":"Duo Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Duo Tang","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017071421","display_name":"Peng Lu","orcid":"https://orcid.org/0000-0001-5611-4902"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peng Lu","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8416","last_page":"8423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9904000163078308,"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":0.9904000163078308,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.0013000000035390258,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0010999999940395355,"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":0.8069999814033508},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.647599995136261},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6448000073432922},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6370999813079834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47440001368522644},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4431000053882599},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4275999963283539},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4194999933242798}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8069999814033508},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.647599995136261},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6448000073432922},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6370999813079834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5771999955177307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49779999256134033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47440001368522644},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4431000053882599},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4275999963283539},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4194999933242798},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.3855000138282776},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.3605000078678131},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3188000023365021},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31769999861717224},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.3163999915122986},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.3028999865055084},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26750001311302185},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.25619998574256897},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2006573361","https://openalex.org/W2892038503","https://openalex.org/W2957867528","https://openalex.org/W3045785884","https://openalex.org/W3125605919","https://openalex.org/W3127125587","https://openalex.org/W3133156511","https://openalex.org/W3202554744","https://openalex.org/W3205667999","https://openalex.org/W3211218032","https://openalex.org/W4210822939","https://openalex.org/W4283455384","https://openalex.org/W4285102544","https://openalex.org/W4285295592","https://openalex.org/W4285744244","https://openalex.org/W4288037467","https://openalex.org/W4291804749","https://openalex.org/W4309312632","https://openalex.org/W4312766084","https://openalex.org/W4360995622","https://openalex.org/W4377157882","https://openalex.org/W4387197125","https://openalex.org/W4387350662","https://openalex.org/W4389667731","https://openalex.org/W4391640641"],"related_works":[],"abstract_inverted_index":{"In":[0,88,146],"this":[1],"paper,":[2],"we":[3,30,48,76,92,124,157],"employ":[4],"multiple":[5],"IMUs":[6],"into":[7],"a":[8,32,50,56,78,104,159,170],"triple-section":[9],"continuum":[10,121,152,172],"manipulator":[11],"to":[12,37,54,148],"precisely":[13],"capture":[14],"the":[15,24,40,45,71,82,94,109,126,129,137,155],"attitude":[16,74],"data":[17],"of":[18,44,97,111,128],"each":[19],"section\u2019s":[20],"end":[21],"disk.":[22],"Leveraging":[23],"sensory":[25],"and":[26,59,68,86,100,107,141],"mechanical":[27],"hardware":[28],"system,":[29],"construct":[31],"sophisticated":[33],"coordinate":[34],"transformation":[35],"scheme":[36],"accurately":[38],"identify":[39],"detailed":[41],"configuration":[42],"states":[43],"manipulator.":[46,122],"Additionally,":[47],"introduce":[49],"numerical":[51],"optimization":[52],"strategy":[53],"develop":[55],"unified":[57],"forward":[58,99],"inverse":[60,101],"kinematic":[61,113,162],"modeling":[62],"framework,":[63],"ensuring":[64],"both":[65,98],"iterative":[66],"efficiency":[67],"accuracy.":[69],"Through":[70],"IMUs\u2019":[72],"real-time":[73,116],"feedback,":[75],"implement":[77],"closed-loop":[79],"controller,":[80],"enhancing":[81],"manipulator\u2019s":[83,138],"operational":[84],"robustness":[85],"agility.":[87],"our":[89],"experimental":[90],"evaluations,":[91],"assess":[93],"convergence":[95],"performance":[96,127],"kinematics":[102],"within":[103],"simulated":[105],"environment":[106],"validate":[108],"precision":[110],"these":[112],"models":[114],"through":[115],"experiments":[117],"on":[118,151,169],"an":[119],"actual":[120],"Moreover,":[123],"evaluate":[125],"proposed":[130],"controller":[131],"by":[132],"examining":[133],"its":[134,143],"accuracy":[135],"during":[136],"continuous":[139],"motions":[140],"analyzing":[142],"response":[144],"characteristics.":[145],"contrast":[147],"previous":[149],"research":[150],"robots":[153],"in":[154],"literature,":[156],"pioneer":[158],"fully":[160],"integrated":[161],"control":[163],"architecture":[164],"that":[165],"is":[166],"successfully":[167],"implemented":[168],"physical":[171],"robotic":[173],"system.":[174]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
