{"id":"https://openalex.org/W3198370158","doi":"https://doi.org/10.1109/rcar52367.2021.9517660","title":"Dynamics modeling of a soft arm under the Cosserat theory","display_name":"Dynamics modeling of a soft arm under the Cosserat theory","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3198370158","doi":"https://doi.org/10.1109/rcar52367.2021.9517660","mag":"3198370158"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5103280878","display_name":"Jie Ma","orcid":"https://orcid.org/0000-0002-9805-7501"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Ma","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017393983","display_name":"Zhiji Han","orcid":"https://orcid.org/0000-0002-2737-9343"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiji Han","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112305754","display_name":"Linsen Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linsen Yang","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051851467","display_name":"Gaochen Min","orcid":"https://orcid.org/0000-0001-5238-0197"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaochen Min","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662211","display_name":"Zhijie Liu","orcid":"https://orcid.org/0000-0001-9522-4178"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijie Liu","raw_affiliation_strings":["School of University of Science and Technology Beijing, Foshan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of University of Science and Technology Beijing, Foshan, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3397,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.54234706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"87","last_page":"90"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9896000027656555,"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/kinematics","display_name":"Kinematics","score":0.7879985570907593},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.6000192165374756},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5935618877410889},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5533228516578674},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.528322160243988},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5261753797531128},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5216180086135864},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.5165778398513794},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4983372688293457},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.48991650342941284},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.4870624840259552},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.48116692900657654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47752371430397034},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.46500787138938904},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.44520634412765503},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41429659724235535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32987180352211},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3074571192264557},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29601553082466125},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2643038034439087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2621901035308838},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2286272644996643},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1732759177684784},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1516190767288208},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.149065762758255}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7879985570907593},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.6000192165374756},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5935618877410889},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5533228516578674},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.528322160243988},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5261753797531128},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5216180086135864},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.5165778398513794},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4983372688293457},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.48991650342941284},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.4870624840259552},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.48116692900657654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47752371430397034},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.46500787138938904},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.44520634412765503},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41429659724235535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32987180352211},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3074571192264557},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29601553082466125},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2643038034439087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2621901035308838},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2286272644996643},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1732759177684784},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1516190767288208},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.149065762758255},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3778556177","display_name":null,"funder_award_id":"JQ20026","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6095189895","display_name":null,"funder_award_id":"2019YFB1703603","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8078467680","display_name":null,"funder_award_id":"62073030,62061160371,61933001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1545301666","https://openalex.org/W1966552874","https://openalex.org/W2121744551","https://openalex.org/W2510278122","https://openalex.org/W2514399691","https://openalex.org/W2586980979","https://openalex.org/W2897782084","https://openalex.org/W2909043882","https://openalex.org/W2921924584","https://openalex.org/W2947094677","https://openalex.org/W3000160985","https://openalex.org/W3110781789","https://openalex.org/W3111125318","https://openalex.org/W3126916802","https://openalex.org/W6789942789"],"related_works":["https://openalex.org/W2784675657","https://openalex.org/W2353141848","https://openalex.org/W2379378665","https://openalex.org/W2017713408","https://openalex.org/W2907704902","https://openalex.org/W2362343688","https://openalex.org/W4304942846","https://openalex.org/W1891563319","https://openalex.org/W2367567586","https://openalex.org/W2725614131"],"abstract_inverted_index":{"With":[0],"the":[1,36,40,57,62,72,76,85,88,94],"rapid":[2],"development":[3],"of":[4,39,61,75],"robotics,":[5],"soft":[6,41,77],"robots":[7],"have":[8],"received":[9],"great":[10],"attention":[11],"for":[12],"their":[13],"superior":[14],"safety":[15],"and":[16,25,84],"flexibility.":[17],"This":[18],"paper":[19],"differs":[20],"from":[21],"previous":[22],"kinematic":[23,37],"models,":[24],"a":[26,65],"dynamic":[27,59],"model":[28,38,68],"is":[29,43,53,69,79],"given":[30],"based":[31],"on":[32],"Cosserat":[33],"theory.":[34],"First,":[35],"arm":[42,78],"discussed.":[44],"Further,":[45],"inspired":[46],"by":[47],"rigid":[48],"robots,":[49],"Newton":[50],"inverse":[51],"kinematics":[52],"applied":[54],"to":[55],"obtain":[56],"Lagrangian":[58],"equations":[60],"system.":[63],"Subsequently,":[64],"rope-driven":[66],"actuator":[67],"provided.":[70],"Finally,":[71],"bending":[73],"process":[74],"provided":[80],"in":[81,93],"<tex>$2D,":[82],"3D$</tex>":[83],"relationship":[86],"with":[87],"motor":[89],"tension":[90],"are":[91],"discussed":[92],"numerical":[95],"simulation.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}
