{"id":"https://openalex.org/W3136410377","doi":"https://doi.org/10.1109/lra.2021.3066978","title":"Optimal Design of Continuum Robots With Reachability Constraints","display_name":"Optimal Design of Continuum Robots With Reachability Constraints","publication_year":2021,"publication_date":"2021-03-17","ids":{"openalex":"https://openalex.org/W3136410377","doi":"https://doi.org/10.1109/lra.2021.3066978","mag":"3136410377"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3066978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3066978","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.11000","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025070841","display_name":"Hyunmin Cheong","orcid":"https://orcid.org/0000-0002-6683-701X"},"institutions":[{"id":"https://openalex.org/I4210103820","display_name":"Autodesk (Canada)","ror":"https://ror.org/01b3dk794","country_code":"CA","type":"company","lineage":["https://openalex.org/I1286353243","https://openalex.org/I4210103820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hyunmin Cheong","raw_affiliation_strings":["Autodesk Research, Autodesk Inc., Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6683-701X","affiliations":[{"raw_affiliation_string":"Autodesk Research, Autodesk Inc., Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210103820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102001527","display_name":"Mehran Ebrahimi","orcid":"https://orcid.org/0000-0002-7041-882X"},"institutions":[{"id":"https://openalex.org/I4210103820","display_name":"Autodesk (Canada)","ror":"https://ror.org/01b3dk794","country_code":"CA","type":"company","lineage":["https://openalex.org/I1286353243","https://openalex.org/I4210103820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehran Ebrahimi","raw_affiliation_strings":["Autodesk Research, Autodesk Inc., Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autodesk Research, Autodesk Inc., Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210103820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085692066","display_name":"Timothy R. Duggan","orcid":"https://orcid.org/0009-0007-6955-2961"},"institutions":[{"id":"https://openalex.org/I4210151804","display_name":"Otherlab","ror":"https://ror.org/04wxq1e36","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210151804"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy Duggan","raw_affiliation_strings":["Otherlab Inc., San Francisco, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Otherlab Inc., San Francisco, CA, USA","institution_ids":["https://openalex.org/I4210151804"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.581,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.58576609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":"2","first_page":"3902","last_page":"3909"},"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":0.9860000014305115,"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/T10892","display_name":"Drilling and Well Engineering","score":0.9577999711036682,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/reachability","display_name":"Reachability","score":0.8761257529258728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.707933783531189},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6477140188217163},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6436207294464111},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5789573788642883},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5670450329780579},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5491795539855957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5353807210922241},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5209968686103821},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5022549629211426},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4993729591369629},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.48031705617904663},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4448440670967102},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4401644468307495},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3107934594154358},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2684577703475952},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24893423914909363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17405104637145996},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06241708993911743}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8761257529258728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.707933783531189},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6477140188217163},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6436207294464111},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5789573788642883},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5670450329780579},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5491795539855957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5353807210922241},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5209968686103821},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5022549629211426},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4993729591369629},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.48031705617904663},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4448440670967102},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4401644468307495},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3107934594154358},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2684577703475952},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24893423914909363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17405104637145996},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06241708993911743},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3066978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3066978","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:arXiv.org:2503.11000","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.11000","pdf_url":"https://arxiv.org/pdf/2503.11000","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2503.11000","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.11000","pdf_url":"https://arxiv.org/pdf/2503.11000","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5160599265","display_name":null,"funder_award_id":"#80NSSC19C0637","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G5560497655","display_name":null,"funder_award_id":"#N68335-17-C-0045","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G6559955291","display_name":null,"funder_award_id":"#DE-AR0001241","funder_id":"https://openalex.org/F4320332276","funder_display_name":"Advanced Research Projects Agency - Energy"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332276","display_name":"Advanced Research Projects Agency - Energy","ror":"https://ror.org/03q1rgc19"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W646162682","https://openalex.org/W1509028783","https://openalex.org/W1528850474","https://openalex.org/W1548369215","https://openalex.org/W1554487381","https://openalex.org/W1964395786","https://openalex.org/W1965612527","https://openalex.org/W1983449914","https://openalex.org/W1985684695","https://openalex.org/W1994252941","https://openalex.org/W2014100751","https://openalex.org/W2035485545","https://openalex.org/W2050215344","https://openalex.org/W2063797945","https://openalex.org/W2088043767","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2111015103","https://openalex.org/W2118876932","https://openalex.org/W2123297103","https://openalex.org/W2156218502","https://openalex.org/W2156707768","https://openalex.org/W2162646641","https://openalex.org/W2599286397","https://openalex.org/W2737320938","https://openalex.org/W2758932078","https://openalex.org/W2786872846","https://openalex.org/W2790147543","https://openalex.org/W2791459099","https://openalex.org/W2886040690","https://openalex.org/W2897391301","https://openalex.org/W2905808123","https://openalex.org/W2963672931","https://openalex.org/W2967634663","https://openalex.org/W3036184859","https://openalex.org/W3087988836","https://openalex.org/W3104361590","https://openalex.org/W3142965756","https://openalex.org/W4206448558","https://openalex.org/W4211264357","https://openalex.org/W4251181231","https://openalex.org/W6744949852"],"related_works":["https://openalex.org/W2537091977","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"While":[0,60],"multi-joint":[1],"continuum":[2,36],"robots":[3],"are":[4,165],"highly":[5],"dexterous":[6],"and":[7,46],"flexible,":[8],"designing":[9],"an":[10,55,92],"optimal":[11,33,100],"robot":[12,73,101,117],"can":[13],"be":[14,87,111],"challenging":[15],"due":[16],"to":[17,31,50,81,98,123,138],"its":[18],"kinematics":[19],"involving":[20],"curvatures.":[21],"Hence,":[22],"the":[23,76,107,112,116,119,125,134,154,158,163,172],"current":[24],"work":[25],"presents":[26],"a":[27,83,139,148],"computational":[28],"method":[29],"developed":[30],"find":[32,99],"designs":[34],"of":[35,94,115,151,157],"robots,":[37],"given":[38,84,149],"reachability":[39,52],"constraints.":[40],"First,":[41],"we":[42,64,90,131],"leverage":[43],"both":[44],"forward":[45],"inverse":[47,62],"kinematic":[48],"computations":[49],"perform":[51],"analysis":[53],"in":[54,143],"efficient":[56],"yet":[57],"accurate":[58],"manner.":[59],"implementing":[61],"kinematics,":[63],"also":[65],"integrate":[66],"torque":[67,79,121],"minimization":[68],"at":[69],"joints":[70],"such":[71],"that":[72,133],"configurations":[74],"with":[75],"minimum":[77],"actuator":[78,120],"required":[80,122],"reach":[82],"workspace":[85],"could":[86,110],"found.":[88],"Lastly,":[89],"apply":[91],"estimation":[93],"distribution":[95],"algorithm":[96,141],"(EDA)":[97],"dimensions":[102],"while":[103],"considering":[104],"reachability,":[105],"where":[106],"objective":[108,155],"function":[109],"total":[113],"length":[114],"or":[118],"operate":[124],"robot.":[126],"Through":[127],"three":[128],"application":[129],"problems,":[130],"show":[132],"EDA":[135,164],"is":[136],"superior":[137],"genetic":[140],"(GA)":[142],"finding":[144],"better":[145],"solutions":[146,160],"within":[147],"number":[150],"iterations,":[152],"as":[153],"values":[156],"best":[159],"found":[161,170],"by":[162,171],"4-15%":[166],"lower":[167],"than":[168],"those":[169],"GA.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
