{"id":"https://openalex.org/W2750248357","doi":"https://doi.org/10.1109/lra.2017.2743100","title":"Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz\u2013Galerkin Methods","display_name":"Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz\u2013Galerkin Methods","publication_year":2017,"publication_date":"2017-08-22","ids":{"openalex":"https://openalex.org/W2750248357","doi":"https://doi.org/10.1109/lra.2017.2743100","mag":"2750248357"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2743100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2743100","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://kclpure.kcl.ac.uk/ws/files/77527341/root.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076130972","display_name":"S. M. Hadi Sadati","orcid":"https://orcid.org/0000-0002-5862-265X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"S. M. Hadi Sadati","raw_affiliation_strings":["Centre for Robotics Research, Department of Informatics, King's College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, Department of Informatics, King's College London, London, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013253963","display_name":"S. Elnaz Naghibi","orcid":"https://orcid.org/0000-0003-0152-9179"},"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":"S. Elnaz Naghibi","raw_affiliation_strings":["School of Engineering and Materials Science, Queen Mary University of London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011466895","display_name":"Ian D. Walker","orcid":"https://orcid.org/0000-0002-9465-2960"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian D. Walker","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","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":"Kaspar Althoefer","raw_affiliation_strings":["School of Engineering and Materials Science, Queen Mary University of London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060656142","display_name":"Thrishantha Nanayakkara","orcid":"https://orcid.org/0000-0002-1882-1232"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thrishantha Nanayakkara","raw_affiliation_strings":["Dyson School of Design Engineering, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dyson School of Design Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5076130972"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1979,"has_fulltext":true,"cited_by_count":112,"citation_normalized_percentile":{"value":0.94645154,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"3","issue":"1","first_page":"328","last_page":"335"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973999857902527,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9959999918937683,"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/ritz-method","display_name":"Ritz method","score":0.8964571952819824},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5735986232757568},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4388040006160736},{"id":"https://openalex.org/keywords/galerkin-method","display_name":"Galerkin method","score":0.4324837327003479},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.40895500779151917},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38180220127105713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3688058853149414},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.32399559020996094},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2935209572315216},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.26205599308013916},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2523127794265747},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24212601780891418},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15961000323295593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08889058232307434},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.06670072674751282}],"concepts":[{"id":"https://openalex.org/C21575042","wikidata":"https://www.wikidata.org/wiki/Q905132","display_name":"Ritz method","level":3,"score":0.8964571952819824},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5735986232757568},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4388040006160736},{"id":"https://openalex.org/C186899397","wikidata":"https://www.wikidata.org/wiki/Q1491980","display_name":"Galerkin method","level":3,"score":0.4324837327003479},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.40895500779151917},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38180220127105713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3688058853149414},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.32399559020996094},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2935209572315216},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.26205599308013916},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2523127794265747},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24212601780891418},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15961000323295593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08889058232307434},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.06670072674751282}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2017.2743100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2743100","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/26e3be03-6c99-4380-b0ef-d07272651ac8","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/26e3be03-6c99-4380-b0ef-d07272651ac8","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/77527341/root.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Sadati, S M H, Naghibi, S E, Walker, I D, Althoefer, K & Nanayakkara, T 2017, 'Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods', IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2017.2743100","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/25925","is_oa":false,"landing_page_url":"http://qmro.qmul.ac.uk/xmlui/handle/123456789/25925","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":"Article"},{"id":"pmh:oai:repository.uel.ac.uk:8w165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/LRA.2017.2743100","pdf_url":null,"source":{"id":"https://openalex.org/S4306401301","display_name":"UEL Research Repository (University of East London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157227730","host_organization_name":"University of East London","host_organization_lineage":["https://openalex.org/I157227730"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/53478","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/53478","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"335","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/26e3be03-6c99-4380-b0ef-d07272651ac8","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/26e3be03-6c99-4380-b0ef-d07272651ac8","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/77527341/root.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Sadati, S M H, Naghibi, S E, Walker, I D, Althoefer, K & Nanayakkara, T 2017, 'Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods', IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2017.2743100","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[{"id":"https://openalex.org/G24559435","display_name":null,"funder_award_id":"EP/N03211X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3873198602","display_name":null,"funder_award_id":"EP/N03211X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5045220161","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G586385744","display_name":"Morphological computation of perception and action","funder_award_id":"EP/N03211X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8985452276","display_name":null,"funder_award_id":"637095","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G936325089","display_name":null,"funder_award_id":"637095","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"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/W2750248357.pdf","grobid_xml":"https://content.openalex.org/works/W2750248357.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W87991497","https://openalex.org/W1024591929","https://openalex.org/W1515749184","https://openalex.org/W1567167040","https://openalex.org/W1576967268","https://openalex.org/W1593804296","https://openalex.org/W1635622277","https://openalex.org/W1902605501","https://openalex.org/W1919781749","https://openalex.org/W1925606516","https://openalex.org/W1995166423","https://openalex.org/W2057371225","https://openalex.org/W2091761952","https://openalex.org/W2101667962","https://openalex.org/W2126257584","https://openalex.org/W2135275888","https://openalex.org/W2135485145","https://openalex.org/W2135739564","https://openalex.org/W2160229137","https://openalex.org/W2184993170","https://openalex.org/W2189764703","https://openalex.org/W2197534015","https://openalex.org/W2412393833","https://openalex.org/W2414073787","https://openalex.org/W2521333807","https://openalex.org/W2535851765","https://openalex.org/W2716445324","https://openalex.org/W2737666157"],"related_works":["https://openalex.org/W2148863784","https://openalex.org/W2055836843","https://openalex.org/W2037985531","https://openalex.org/W2515307085","https://openalex.org/W2625969656","https://openalex.org/W2124287120","https://openalex.org/W2004564394","https://openalex.org/W2314973680","https://openalex.org/W2363019087","https://openalex.org/W2943697195"],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,13,53,90,101,109,130,143,161,173],"challenges":[3],"with":[4,48,123,172],"real-time":[5,183],"accurate":[6,171],"modeling":[7,55,178],"of":[8,15,58,67,70,104,177],"multisegment":[9],"continuum":[10,60],"manipulators":[11],"in":[12,133,146,149,160],"presence":[14],"significant":[16],"external":[17],"and":[18,32,50,93,136,151,180,186],"body":[19],"loads,":[20],"we":[21],"introduce":[22],"a":[23,38,59,68,78,80],"novel":[24],"series":[25,42],"solution":[26,165],"for":[27,89,129,142,182],"variable-curvature":[28],"Cosserat":[29],"rod":[30],"static":[31,134],"Lagrangian":[33],"dynamic":[34,147],"methods.":[35],"By":[36],"combining":[37],"modified":[39],"Lagrange":[40],"polynomial":[41],"solution,":[43],"based":[44],"on":[45],"experimental":[46,121],"observations,":[47],"Ritz":[49,144],"Ritz-Galerkin":[51,131],"methods,":[52],"infinite":[54],"state":[56],"space":[57],"manipulator":[61],"is":[62,87,112,166],"minimized":[63],"to":[64,83,115,156,168],"geometrical":[65],"position":[66],"handful":[69],"physical":[71],"points":[72],"(in":[73],"our":[74,163],"case":[75],"two).":[76],"As":[77],"result,":[79],"unified":[81],"easy":[82],"implement":[84],"vector":[85],"formalism":[86],"proposed":[88,118],"nonlinear":[91],"impedance":[92],"configuration":[94],"control.":[95],"We":[96],"showed":[97],"that":[98],"by":[99],"considering":[100],"mechanical":[102],"effects":[103],"highly":[105],"elastic":[106],"axial":[107],"deformation,":[108],"model":[110,119],"accuracy":[111],"increased":[113],"up":[114],"6%.":[116],"The":[117],"predicts":[120],"results":[122],"6%-8%":[124],"(4-6":[125],"mm)":[126,139],"mean":[127,140],"error":[128,141],"method":[132,145],"cases":[135],"16%-20%":[137],"(12-14":[138],"cases,":[148],"planar":[150],"general":[152],"three-dimensional":[153],"motions.":[154],"Comparing":[155],"five":[157],"different":[158],"models":[159],"literature,":[162],"approximate":[164],"shown":[167],"be":[169],"more":[170],"smallest":[174],"possible":[175],"number":[176],"states":[179],"suitable":[181],"modeling,":[184],"observation,":[185],"control":[187],"applications.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8}],"updated_date":"2026-05-22T09:01:20.584952","created_date":"2025-10-10T00:00:00"}