{"id":"https://openalex.org/W4388505037","doi":"https://doi.org/10.1109/lra.2023.3331291","title":"Efficient and Scalable Inverse Kinematics for Continuum Robots","display_name":"Efficient and Scalable Inverse Kinematics for Continuum Robots","publication_year":2023,"publication_date":"2023-11-08","ids":{"openalex":"https://openalex.org/W4388505037","doi":"https://doi.org/10.1109/lra.2023.3331291"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3331291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331291","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://nottingham-repository.worktribe.com/file/26607309/1/Revised%20Modeling%20Paper%20Final","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005532197","display_name":"Samuel Wild","orcid":"https://orcid.org/0000-0002-7160-7470"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Samuel Wild","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082638352","display_name":"Tianyi Zeng","orcid":"https://orcid.org/0000-0001-8551-0832"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tianyi Zeng","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059324003","display_name":"Abdelkhalick Mohammad","orcid":"https://orcid.org/0000-0001-7623-125X"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Abdelkhalick Mohammad","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024167456","display_name":"J. Billingham","orcid":"https://orcid.org/0000-0002-4392-5770"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"John Billingham","raw_affiliation_strings":["School of Mathematical Sciences, The University of Nottingham, University Park, Nottingham, U.K"],"affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, The University of Nottingham, University Park, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015263836","display_name":"Drago\u015f Axinte","orcid":"https://orcid.org/0000-0002-3595-0933"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dragos Axinte","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087034933","display_name":"Xin Dong","orcid":"https://orcid.org/0000-0001-9337-9379"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xin Dong","raw_affiliation_strings":["Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K"],"affiliations":[{"raw_affiliation_string":"Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5005532197"],"corresponding_institution_ids":["https://openalex.org/I142263535"],"apc_list":null,"apc_paid":null,"fwci":2.3799,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.88784877,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"375","last_page":"381"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9869999885559082,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9728999733924866,"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/robot","display_name":"Robot","score":0.6668941378593445},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5857064127922058},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5779790282249451},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5614550113677979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5584965348243713},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5126227736473083},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5041502714157104},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4671715199947357},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45314133167266846},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.44070643186569214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31567811965942383},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26055610179901123},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11402025818824768},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.0894525945186615}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6668941378593445},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5857064127922058},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5779790282249451},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5614550113677979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5584965348243713},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5126227736473083},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5041502714157104},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4671715199947357},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45314133167266846},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.44070643186569214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31567811965942383},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26055610179901123},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11402025818824768},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0894525945186615},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3331291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331291","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:nottingham-repository.worktribe.com:26607309","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/26607309","pdf_url":"https://nottingham-repository.worktribe.com/file/26607309/1/Revised%20Modeling%20Paper%20Final","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:26607309","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/26607309","pdf_url":"https://nottingham-repository.worktribe.com/file/26607309/1/Revised%20Modeling%20Paper%20Final","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5400000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320324","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388505037.pdf","grobid_xml":"https://content.openalex.org/works/W4388505037.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1750689792","https://openalex.org/W1965456896","https://openalex.org/W1980039387","https://openalex.org/W2018233111","https://openalex.org/W2053614949","https://openalex.org/W2101667962","https://openalex.org/W2120578952","https://openalex.org/W2184993170","https://openalex.org/W2527057332","https://openalex.org/W2735031858","https://openalex.org/W2910440184","https://openalex.org/W2919013143","https://openalex.org/W2942096073","https://openalex.org/W2987061965","https://openalex.org/W3037426978","https://openalex.org/W3043122761","https://openalex.org/W3186246039","https://openalex.org/W3201650497","https://openalex.org/W4309312632","https://openalex.org/W4361295293","https://openalex.org/W6762863022"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W1679399962","https://openalex.org/W2132859693","https://openalex.org/W1901106430","https://openalex.org/W2115240519","https://openalex.org/W2537091977","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W2898458249"],"abstract_inverted_index":{"With":[0],"their":[1,9,11,36,43],"flexible":[2],"nature,":[3],"continuum":[4,61,78,137,187],"robots":[5,138,188],"offer":[6],"hyper-redundancy":[7],"regarding":[8],"workspace;":[10],"backbone":[12,26,118],"can":[13],"take":[14],"many":[15],"shapes":[16],"upon":[17],"a":[18,69,122],"single":[19],"tip":[20,174],"position":[21],"and":[22,50,52,97,116,142,161,189],"orientation.":[23],"Deciphering":[24],"which":[25,121],"shape":[27],"to":[28,35,84,136,181],"use":[29,44,192],"under":[30],"certain":[31],"conditions":[32],"is":[33,124],"crucial":[34],"operation,":[37],"especially":[38],"given":[39],"the":[40,85,103,129,134,149,154,164,179,191],"rise":[41],"in":[42,45,111,197],"industries":[46],"such":[47],"as":[48],"inspection":[49],"repair,":[51],"minimally":[53],"invasive":[54],"surgery.":[55],"This":[56,66],"complexity":[57,96],"increases":[58,98],"when":[59],"additional":[60],"robot":[62,159],"sections":[63,160],"are":[64],"used.":[65],"letter":[67],"presents":[68],"novel":[70],"Piecewise":[71],"Dual":[72],"Quaternion":[73],"(PDQ)-based":[74],"algorithm":[75,93,104,151],"for":[76,120],"modeling":[77,165],"robots,":[79],"demonstrating":[80],"improved":[81],"performance":[82,110],"compared":[83],"traditional":[86],"pseudo-Inverse":[87],"Jacobian":[88],"(IJ)":[89],"method.":[90],"The":[91,145],"proposed":[92],"reduces":[94],"computational":[95],"convergence":[99],"speed.":[100],"We":[101],"validate":[102],"through":[105],"simulation":[106],"studies,":[107],"comparing":[108],"its":[109],"terms":[112],"of":[113,170,185,193],"accuracy,":[114],"frequency,":[115],"sequential":[117],"smoothness,":[119],"metric":[123],"defined.":[125],"Furthermore,":[126],"we":[127],"assess":[128],"algorithm's":[130],"scalability":[131],"by":[132,167],"extending":[133],"analysis":[135],"with":[139],"4,":[140],"5,":[141],"6":[143],"sections.":[144],"results":[146],"indicate":[147],"that":[148],"PDQ":[150],"consistently":[152],"outperforms":[153],"IJ":[155],"method":[156],"across":[157],"various":[158],"paths,":[162],"increasing":[163],"frequency":[166],"an":[168],"order":[169],"magnitude":[171],"while":[172],"maintaining":[173],"accuracy.":[175],"These":[176],"findings":[177],"have":[178],"potential":[180],"enable":[182],"high":[183],"precision":[184],"multi-section":[186],"facilitate":[190],"haptic":[194],"feedback":[195],"sensors":[196],"practical":[198],"applications.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":6}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}