{"id":"https://openalex.org/W1972826462","doi":"https://doi.org/10.1109/robio.2014.7090358","title":"On the kinematic modeling of a class of continuum manipulators","display_name":"On the kinematic modeling of a class of continuum manipulators","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1972826462","doi":"https://doi.org/10.1109/robio.2014.7090358","mag":"1972826462"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"},"type":"preprint","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/A5055406320","display_name":"Othman Lakhal","orcid":"https://orcid.org/0000-0003-0169-5396"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Othman Lakhal","raw_affiliation_strings":["Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045013272","display_name":"Achille Melingui","orcid":"https://orcid.org/0000-0003-2470-7708"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Achille Melingui","raw_affiliation_strings":["Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103139118","display_name":"Thor Morales Bieze","orcid":"https://orcid.org/0000-0002-2351-7016"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thor Morales Bieze","raw_affiliation_strings":["Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031013091","display_name":"Coralie Escande","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Coralie Escande","raw_affiliation_strings":["Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074372724","display_name":"Blaise Conrard","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Blaise Conrard","raw_affiliation_strings":["Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061984641","display_name":"Rochdi Merzouki","orcid":"https://orcid.org/0000-0001-9153-6078"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rochdi Merzouki","raw_affiliation_strings":["Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytech'Lille, CNRS-UMR, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I4210154774","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Polytech'Lille, LAGIS, CNRS-UMR 8219, Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1924,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.54334825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"368","last_page":"373"},"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":0.9983000159263611,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9951000213623047,"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/kinematics","display_name":"Kinematics","score":0.8608571887016296},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6995751857757568},{"id":"https://openalex.org/keywords/concatenation","display_name":"Concatenation (mathematics)","score":0.6250874996185303},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6102499961853027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.526324450969696},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5160688757896423},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5141502022743225},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5039030909538269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5019140243530273},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.414334774017334},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.4112221598625183},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.41101574897766113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3225856125354767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2602086067199707},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21438384056091309},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10596776008605957},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08103683590888977},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06167075037956238}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8608571887016296},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6995751857757568},{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.6250874996185303},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6102499961853027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.526324450969696},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5160688757896423},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5141502022743225},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5039030909538269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5019140243530273},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.414334774017334},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.4112221598625183},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.41101574897766113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3225856125354767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2602086067199707},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21438384056091309},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10596776008605957},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08103683590888977},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06167075037956238},{"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W767586581","https://openalex.org/W1553482298","https://openalex.org/W1604997681","https://openalex.org/W1968449978","https://openalex.org/W1989552041","https://openalex.org/W1997060717","https://openalex.org/W2019428733","https://openalex.org/W2057371225","https://openalex.org/W2060978823","https://openalex.org/W2071699182","https://openalex.org/W2080400115","https://openalex.org/W2095462685","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2109100074","https://openalex.org/W2120944914","https://openalex.org/W2137983211","https://openalex.org/W2140994823","https://openalex.org/W2150846331","https://openalex.org/W2156218502","https://openalex.org/W2158677895","https://openalex.org/W2160229137","https://openalex.org/W3146803896","https://openalex.org/W4210878176","https://openalex.org/W4251181231","https://openalex.org/W4285719527","https://openalex.org/W6622595661"],"related_works":["https://openalex.org/W2004793478","https://openalex.org/W2138377666","https://openalex.org/W2358666156","https://openalex.org/W2391892769","https://openalex.org/W881443103","https://openalex.org/W2537091977","https://openalex.org/W1880935057","https://openalex.org/W2600861247","https://openalex.org/W1976840544","https://openalex.org/W90437214"],"abstract_inverted_index":{"This":[0,19],"paper":[1],"addresses":[2],"the":[3,13,26,54,60,72,83,87,101,142],"forward":[4,73],"kinematic":[5,62,74],"model":[6,20,143],"(FKM)":[7],"of":[8,28,40,43,59,64,82,89,107],"a":[9,38,80,104,136],"continuum":[10],"manipulator,":[11],"namely":[12],"Compact":[14],"Bionic":[15],"Handling":[16],"Assistant":[17],"(CBHA).":[18],"is":[21,35,67,76,93,109,117,145],"an":[22,29,125,130],"essential":[23],"step":[24],"in":[25,111],"design":[27],"autonomous":[30],"robot":[31,47,92],"control.":[32],"The":[33,114],"CBHA":[34,84],"considered":[36],"as":[37,129],"concatenation":[39],"three":[41],"degrees":[42],"freedom":[44],"(DoF)":[45],"parallel":[46,91],"with":[48,103,135],"3UPS-1UP":[49],"(Universal-Prismatic-Spherical)":[50],"joint":[51],"structure":[52],"along":[53],"backbone.":[55],"A":[56,95,133],"mathematical":[57],"solution":[58],"inverse":[61],"problem":[63,75],"such":[65],"manipulators":[66],"easy":[68],"to":[69,141],"derive;":[70],"however,":[71],"mathematically":[77],"intractable.":[78],"Therefore,":[79],"FKM":[81,102],"based":[85],"on":[86],"IKM":[88],"each":[90],"proposed.":[94],"neural-network-based":[96],"hybrid":[97],"approach":[98,116],"that":[99],"solves":[100],"good":[105],"degree":[106],"accuracy":[108,144],"developed":[110],"this":[112],"paper.":[113],"proposed":[115],"validated":[118],"by":[119,123],"real":[120],"measurements":[121],"obtained":[122],"using":[124],"industrial":[126],"manipulator":[127],"(Kuka)":[128],"external":[131],"sensor.":[132],"comparison":[134],"quantitative":[137],"geometric":[138],"approach,":[139],"according":[140],"also":[146],"presented.":[147]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
