{"id":"https://openalex.org/W4405974630","doi":"https://doi.org/10.1109/lra.2024.3524898","title":"Duality of the Existing Geometric Variable Strain Models for the Dynamic Modeling of Continuum Robots","display_name":"Duality of the Existing Geometric Variable Strain Models for the Dynamic Modeling of Continuum Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4405974630","doi":"https://doi.org/10.1109/lra.2024.3524898"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3524898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3524898","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://hal.science/hal-04893096/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115736456","display_name":"A. Ouyoucef","orcid":null},"institutions":[{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Ouyoucef","raw_affiliation_strings":["CRIStAL Laboratory, Inria and Centrale Lille, Villeneuve-d&#x0027;Ascq, France"],"raw_orcid":"https://orcid.org/0009-0003-7114-2532","affiliations":[{"raw_affiliation_string":"CRIStAL Laboratory, Inria and Centrale Lille, Villeneuve-d&#x0027;Ascq, France","institution_ids":["https://openalex.org/I7454413"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031787168","display_name":"Quentin Peyron","orcid":"https://orcid.org/0000-0003-2628-1464"},"institutions":[{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Q. Peyron","raw_affiliation_strings":["CRIStAL Laboratory, Inria and Centrale Lille, Villeneuve-d&#x0027;Ascq, France"],"raw_orcid":"https://orcid.org/0000-0003-2628-1464","affiliations":[{"raw_affiliation_string":"CRIStAL Laboratory, Inria and Centrale Lille, Villeneuve-d&#x0027;Ascq, France","institution_ids":["https://openalex.org/I7454413"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051124210","display_name":"Vincent Lebastard","orcid":"https://orcid.org/0000-0001-7306-2286"},"institutions":[{"id":"https://openalex.org/I205703379","display_name":"Institut Mines-T\u00e9l\u00e9com","ror":"https://ror.org/025vp2923","country_code":"FR","type":"facility","lineage":["https://openalex.org/I205703379"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"V. Lebastard","raw_affiliation_strings":["LS2N Lab, Institut Mines Telecom Atlantique, Nantes, France"],"raw_orcid":"https://orcid.org/0000-0001-7306-2286","affiliations":[{"raw_affiliation_string":"LS2N Lab, Institut Mines Telecom Atlantique, Nantes, France","institution_ids":["https://openalex.org/I205703379","https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043823023","display_name":"Federico Renda","orcid":"https://orcid.org/0000-0002-1833-9809"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"F. Renda","raw_affiliation_strings":["Department of Mechanical Engineering and Center for Autonomous Robotics Systems, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-1833-9809","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Center for Autonomous Robotics Systems, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038119641","display_name":"Gang Zheng","orcid":"https://orcid.org/0000-0002-5671-7700"},"institutions":[{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"G. Zheng","raw_affiliation_strings":["CRIStAL Laboratory, Inria and Centrale Lille, Villeneuve-d&#x0027;Ascq, France"],"raw_orcid":"https://orcid.org/0000-0002-5671-7700","affiliations":[{"raw_affiliation_string":"CRIStAL Laboratory, Inria and Centrale Lille, Villeneuve-d&#x0027;Ascq, France","institution_ids":["https://openalex.org/I7454413"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070115867","display_name":"Fr\u00e9d\u00e9ric Boyer","orcid":"https://orcid.org/0000-0003-0021-9590"},"institutions":[{"id":"https://openalex.org/I205703379","display_name":"Institut Mines-T\u00e9l\u00e9com","ror":"https://ror.org/025vp2923","country_code":"FR","type":"facility","lineage":["https://openalex.org/I205703379"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Boyer","raw_affiliation_strings":["LS2N Lab, Institut Mines Telecom Atlantique, Nantes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LS2N Lab, Institut Mines Telecom Atlantique, Nantes, France","institution_ids":["https://openalex.org/I205703379","https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4905,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58050296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"2","first_page":"1848","last_page":"1855"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9739000201225281,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9695000052452087,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6215485334396362},{"id":"https://openalex.org/keywords/duality","display_name":"Duality (order theory)","score":0.6081216335296631},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5530970096588135},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.521794319152832},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5028268694877625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47137558460235596},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.44586363434791565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36767616868019104},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3496749997138977},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3163377344608307},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.307425856590271},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.20056363940238953},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.12936103343963623},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10807952284812927}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6215485334396362},{"id":"https://openalex.org/C2778023678","wikidata":"https://www.wikidata.org/wiki/Q554403","display_name":"Duality (order theory)","level":2,"score":0.6081216335296631},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5530970096588135},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.521794319152832},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5028268694877625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47137558460235596},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.44586363434791565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36767616868019104},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3496749997138977},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3163377344608307},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.307425856590271},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.20056363940238953},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.12936103343963623},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10807952284812927}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3524898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3524898","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:HAL:hal-04893096v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04893096","pdf_url":"https://hal.science/hal-04893096/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1848-1855. &#x27E8;10.1109/LRA.2024.3524898&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04893096v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04893096","pdf_url":"https://hal.science/hal-04893096/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1848-1855. &#x27E8;10.1109/LRA.2024.3524898&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G14727358","display_name":null,"funder_award_id":"RIG-2023-048","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G2776477858","display_name":null,"funder_award_id":"ANR-20-CE33","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G5213819102","display_name":null,"funder_award_id":"RC1-2018- KUCARS","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G648140960","display_name":null,"funder_award_id":"RC1-2018-KUCARS","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G8345998766","display_name":null,"funder_award_id":"ANR-20-CE33-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320322334","display_name":"Khalifa University of Science, Technology and Research","ror":"https://ror.org/05hffr360"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405974630.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W172715162","https://openalex.org/W2020615058","https://openalex.org/W2081569809","https://openalex.org/W2084891258","https://openalex.org/W2150549237","https://openalex.org/W2184993170","https://openalex.org/W2564779871","https://openalex.org/W2897782084","https://openalex.org/W2909509999","https://openalex.org/W2942096073","https://openalex.org/W2993799976","https://openalex.org/W3015303069","https://openalex.org/W3031329960","https://openalex.org/W3090875899","https://openalex.org/W3127964809","https://openalex.org/W3162655786","https://openalex.org/W3204719635","https://openalex.org/W4229897703","https://openalex.org/W4313138798","https://openalex.org/W4315649248","https://openalex.org/W4320002894","https://openalex.org/W4388819673","https://openalex.org/W4390719155","https://openalex.org/W4392207836"],"related_works":["https://openalex.org/W2375706956","https://openalex.org/W1996212220","https://openalex.org/W2322736056","https://openalex.org/W2391287140","https://openalex.org/W2374158927","https://openalex.org/W2013165546","https://openalex.org/W2186886641","https://openalex.org/W2262385477","https://openalex.org/W2007405763","https://openalex.org/W2365087360"],"abstract_inverted_index":{"The":[0,92],"Cosserat":[1,27],"rod":[2,28],"theory":[3],"has":[4,36,51],"become":[5],"a":[6,22,60,140,150],"gold":[7],"standard":[8],"for":[9,55,149,168],"modeling":[10],"the":[11,31,40,69,97,102,105,108,178],"statics":[12],"and":[13,17,68,80,89,101,125],"dynamics":[14],"of":[15,25,77,107,153,160,181],"serial":[16],"parallel":[18],"continuum":[19,56],"robots.":[20],"Recently,":[21],"weak":[23],"form":[24,62,110],"these":[26,116,137,144,169],"models":[29],"called":[30],"geometric":[32],"variable":[33],"strain":[34],"model":[35,50,120],"been":[37,85],"derived":[38],"where":[39],"robot":[41],"deformations":[42],"are":[43],"projected":[44],"on":[45,96,104,177],"finite-dimensional":[46],"basis":[47],"functions.":[48],"This":[49],"very":[52],"interesting":[53],"features":[54],"robotics,":[57],"such":[58],"as":[59],"Lagrangian":[61],"close":[63],"to":[64,71,87,132],"classical":[65],"rigid":[66,182],"robots":[67],"ability":[70],"tune":[72],"its":[73],"performances":[74],"in":[75,172],"terms":[76],"computation":[78],"time":[79],"accuracy.":[81],"Two":[82],"approaches":[83,117],"have":[84],"proposed":[86],"obtain":[88],"compute":[90],"it.":[91],"first":[93],"is":[94],"based":[95,176],"Newton-Euler":[98],"recursive":[99],"algorithm":[100],"second,":[103],"projection":[106],"strong":[109],"equations":[111],"using":[112],"Jacobian":[113],"matrices.":[114],"Although":[115],"yield":[118],"identical":[119],"forms,":[121],"their":[122,161,174],"disparate":[123],"implementations":[124],"numerical":[126],"schemes":[127],"render":[128],"each":[129],"uniquely":[130],"suited":[131],"specific":[133],"applications.":[134],"Notably,":[135],"underlying":[136],"disparities":[138],"lies":[139],"profound":[141],"duality":[142,155],"between":[143],"models,":[145],"prompting":[146],"our":[147],"quest":[148],"comprehensive":[151],"overview":[152],"this":[154],"along":[156],"with":[157],"an":[158],"analysis":[159],"algorithmic":[162],"differences.":[163],"Finally,":[164],"we":[165],"discuss":[166],"perspectives":[167],"two":[170],"approaches,":[171],"particular":[173],"hybridization,":[175],"current":[179],"knowledge":[180],"robotics.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-01-02T00:00:00"}
