{"id":"https://openalex.org/W7140317241","doi":"https://doi.org/10.1109/lra.2026.3677753","title":"A Continuum Robot Based on a Conical Helical Configuration for Adaptive Grasping of Irregular Objects","display_name":"A Continuum Robot Based on a Conical Helical Configuration for Adaptive Grasping of Irregular Objects","publication_year":2026,"publication_date":"2026-03-25","ids":{"openalex":"https://openalex.org/W7140317241","doi":"https://doi.org/10.1109/lra.2026.3677753"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3677753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3677753","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":null,"display_name":"LinFeng Li","orcid":"https://orcid.org/0009-0000-8556-876X"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"LinFeng Li","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-8556-876X","affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shouzhong Li","orcid":"https://orcid.org/0000-0001-7016-3858"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shouzhong Li","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7016-3858","affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Maorong Wang","orcid":"https://orcid.org/0009-0005-4339-3785"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maorong Wang","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-4339-3785","affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126625925","display_name":"Yitao Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yitao Chen","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinyu Kuang","orcid":null},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Kuang","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130556455","display_name":"Junli Li","orcid":null},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junli Li","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-4447-6645","affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130602155","display_name":"Yuansen Yue","orcid":null},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuansen Yue","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0004-0151-0245","affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109739283","display_name":"Haoyang Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyang Chen","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I52158045"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29473985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"5946","last_page":"5953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.6474000215530396,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.6474000215530396,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.1720000058412552,"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":0.07500000298023224,"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/conical-surface","display_name":"Conical surface","score":0.5667999982833862},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.546999990940094},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.29350000619888306}],"concepts":[{"id":"https://openalex.org/C124961601","wikidata":"https://www.wikidata.org/wiki/Q2518149","display_name":"Conical surface","level":2,"score":0.5667999982833862},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5478000044822693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.546999990940094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49470001459121704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48080000281333923},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3774999976158142},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26019999384880066},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2574000060558319},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.24629999697208405}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3677753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3677753","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,22],"novel":[4],"continuum":[5],"robot":[6,18,47,118,130,159],"designed":[7],"to":[8,50,96,151],"overcome":[9],"the":[10,46,52,55,59,64,69,77,81,88,98,114,117,129,158,164,183],"limitations":[11],"of":[12,29,38,45,58,68,116,142,157,186],"existing":[13],"winding-based":[14],"grasping":[15,137,141,167,185],"methods.":[16],"The":[17,71,124,154],"is":[19,48,74,84,111,119,160],"based":[20,86],"on":[21,87],"conical":[23,60],"spiral":[24],"curve":[25,62],"design":[26],"and":[27,63,80,104,113,135,163,178],"consists":[28],"multiple":[30],"2-degree-of-freedom":[31],"flexible":[32],"joint,":[33],"enabling":[34,139],"lateral":[35,166],"helical":[36,61],"gripping":[37],"irregular":[39,143,187],"objects.":[40,188],"A":[41,108],"structural":[42,66],"parameter":[43],"model":[44,73,83],"established":[49,75],"clarify":[51],"mapping":[53],"between":[54,100],"geometric":[56],"characteristics":[57],"physical":[65,109],"parameters":[67],"robot.":[70],"kinematic":[72],"using":[76],"D\u2013H":[78],"method,":[79],"static":[82],"derived":[85],"Lagrange":[89],"equation.":[90],"Finite":[91],"element":[92],"simulations":[93],"are":[94],"conducted":[95],"establish":[97],"relationship":[99],"tendon":[101,105],"driving":[102],"force":[103],"length":[106],"variation.":[107],"prototype":[110],"fabricated":[112],"performance":[115],"systematically":[120],"validated":[121],"through":[122],"experiments.":[123],"results":[125],"demon":[126],"strate":[127],"that":[128],"possesses":[131],"stable":[132],"posture":[133],"control":[134],"adaptive":[136],"capability,":[138],"effective":[140,177],"objects":[144],"with":[145],"diameters":[146],"ranging":[147],"from":[148],"55":[149],"mm":[150],"100":[152],"mm.":[153],"total":[155],"mass":[156],"190":[161],"g,":[162],"maximum":[165],"load":[168],"reaches":[169],"459":[170],"g.":[171],"Overall,":[172],"this":[173],"study":[174],"provides":[175],"an":[176],"innovative":[179],"solution":[180],"for":[181],"addressing":[182],"winding":[184]},"counts_by_year":[],"updated_date":"2026-04-03T16:38:21.277918","created_date":"2026-03-26T00:00:00"}
