{"id":"https://openalex.org/W4387197125","doi":"https://doi.org/10.1109/lra.2023.3320946","title":"The Kinematics of Constant Curvature Continuum Robots Through Three Segments","display_name":"The Kinematics of Constant Curvature Continuum Robots Through Three Segments","publication_year":2023,"publication_date":"2023-09-29","ids":{"openalex":"https://openalex.org/W4387197125","doi":"https://doi.org/10.1109/lra.2023.3320946"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3320946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3320946","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100381393","display_name":"Yucheng Li","orcid":"https://orcid.org/0000-0002-4393-5098"},"institutions":[{"id":"https://openalex.org/I127591826","display_name":"University of Dayton","ror":"https://ror.org/021v3qy27","country_code":"US","type":"education","lineage":["https://openalex.org/I127591826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yucheng Li","raw_affiliation_strings":["Design of Innovative Machines Laboratory (DIMLab), Department of Mechanical and Aerospace Engineering, University of Dayton, Dayton, OH, USA"],"raw_orcid":"https://orcid.org/0000-0002-4393-5098","affiliations":[{"raw_affiliation_string":"Design of Innovative Machines Laboratory (DIMLab), Department of Mechanical and Aerospace Engineering, University of Dayton, Dayton, OH, USA","institution_ids":["https://openalex.org/I127591826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069324065","display_name":"David H. Myszka","orcid":"https://orcid.org/0000-0003-2326-9048"},"institutions":[{"id":"https://openalex.org/I127591826","display_name":"University of Dayton","ror":"https://ror.org/021v3qy27","country_code":"US","type":"education","lineage":["https://openalex.org/I127591826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David H. Myszka","raw_affiliation_strings":["Design of Innovative Machines Laboratory (DIMLab), Department of Mechanical and Aerospace Engineering, University of Dayton, Dayton, OH, USA"],"raw_orcid":"https://orcid.org/0000-0003-2326-9048","affiliations":[{"raw_affiliation_string":"Design of Innovative Machines Laboratory (DIMLab), Department of Mechanical and Aerospace Engineering, University of Dayton, Dayton, OH, USA","institution_ids":["https://openalex.org/I127591826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054371819","display_name":"Andrew P. Murray","orcid":"https://orcid.org/0000-0001-5745-4829"},"institutions":[{"id":"https://openalex.org/I127591826","display_name":"University of Dayton","ror":"https://ror.org/021v3qy27","country_code":"US","type":"education","lineage":["https://openalex.org/I127591826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Murray","raw_affiliation_strings":["Design of Innovative Machines Laboratory (DIMLab), Department of Mechanical and Aerospace Engineering, University of Dayton, Dayton, OH, USA"],"raw_orcid":"https://orcid.org/0000-0001-5745-4829","affiliations":[{"raw_affiliation_string":"Design of Innovative Machines Laboratory (DIMLab), Department of Mechanical and Aerospace Engineering, University of Dayton, Dayton, OH, USA","institution_ids":["https://openalex.org/I127591826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4602,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.8919693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":"11","first_page":"7631","last_page":"7638"},"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":0.991100013256073,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9894999861717224,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.7714537978172302},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.704820454120636},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6840610504150391},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6347622275352478},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5578603744506836},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5409482717514038},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4786164164543152},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.4340786933898926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42460909485816956},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.413772314786911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3580833971500397},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3433881998062134},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3179532289505005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2223704755306244},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21835684776306152},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18648076057434082},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17144352197647095}],"concepts":[{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.7714537978172302},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.704820454120636},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6840610504150391},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6347622275352478},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5578603744506836},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5409482717514038},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4786164164543152},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.4340786933898926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42460909485816956},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.413772314786911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3580833971500397},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3433881998062134},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3179532289505005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2223704755306244},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21835684776306152},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18648076057434082},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17144352197647095},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3320946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3320946","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1965456896","https://openalex.org/W2019428733","https://openalex.org/W2060978823","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2117257735","https://openalex.org/W2121744551","https://openalex.org/W2129165027","https://openalex.org/W2137670317","https://openalex.org/W2138564331","https://openalex.org/W2147802545","https://openalex.org/W2477120746","https://openalex.org/W2897391301","https://openalex.org/W2897782084","https://openalex.org/W2911502634","https://openalex.org/W2981981438","https://openalex.org/W2990316883","https://openalex.org/W2999072533","https://openalex.org/W3015303069","https://openalex.org/W3090104320","https://openalex.org/W3113004417","https://openalex.org/W3127125587","https://openalex.org/W3138075616","https://openalex.org/W3214059903","https://openalex.org/W4210927443","https://openalex.org/W4295743150","https://openalex.org/W4313639260","https://openalex.org/W4365129609","https://openalex.org/W4377157882","https://openalex.org/W4388873926","https://openalex.org/W4388873960","https://openalex.org/W4388873979","https://openalex.org/W6858112357","https://openalex.org/W6858515941","https://openalex.org/W6858791570"],"related_works":["https://openalex.org/W2136512912","https://openalex.org/W2127267268","https://openalex.org/W2156446763","https://openalex.org/W2067910792","https://openalex.org/W2150194458","https://openalex.org/W2143461633","https://openalex.org/W2889071233","https://openalex.org/W2483091703","https://openalex.org/W4231651419","https://openalex.org/W4385430464"],"abstract_inverted_index":{"This":[0],"letter":[1],"investigates":[2],"the":[3,7,12,36,39,50,67,70,85,94,98,109,126],"mathematical":[4],"relationships":[5,90],"between":[6],"positions":[8],"and":[9,49],"orientations":[10],"at":[11],"segment":[13],"tips":[14,74],"of":[15,38,52,62,69,97,101],"a":[16,30,44,60,78,81,102,118],"piecewise":[17],"constant":[18],"curvature":[19],"(PCC)":[20],"continuum":[21],"robot":[22],"with":[23,122],"up":[24],"to":[25,84,125],"three":[26],"segments.":[27],"For":[28,42,65],"one-segment,":[29],"reachability":[31,45],"criterion":[32,46],"is":[33,47,57,134],"proposed,":[34],"simplifying":[35],"calculation":[37],"neighboring":[40],"orientation.":[41],"two-segments,":[43],"proposed":[48],"redundancy":[51,68],"its":[53],"inverse":[54,71,86],"kinematics":[55,72,87],"solution":[56,83],"found,":[58],"establishing":[59],"circle":[61],"tip":[63],"locations.":[64],"three-segments,":[66],"includes":[73],"that":[75,131],"lie":[76],"on":[77],"sphere":[79],"providing":[80],"closed-form":[82],"problem.":[88],"These":[89,114],"are":[91,111],"derived":[92],"from":[93,117],"unique":[95],"characteristics":[96],"bisecting":[99],"plane":[100],"single":[103],"segment.":[104],"The":[105],"degenerate":[106],"cases":[107],"for":[108],"solutions":[110],"also":[112],"addressed.":[113],"outcomes":[115],"stem":[116],"specific":[119],"PCC":[120,128],"parametrization,":[121],"implications":[123],"extending":[124],"general":[127],"model.":[129],"Note":[130],"this":[132],"study":[133],"grounded":[135],"solely":[136],"in":[137],"simulation.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}