{"id":"https://openalex.org/W2589720224","doi":"https://doi.org/10.1109/simpar.2016.7862394","title":"A nonlinear finite element formalism for modelling flexible and soft manipulators","display_name":"A nonlinear finite element formalism for modelling flexible and soft manipulators","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2589720224","doi":"https://doi.org/10.1109/simpar.2016.7862394","mag":"2589720224"},"language":"en","primary_location":{"id":"doi:10.1109/simpar.2016.7862394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","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/A5066924061","display_name":"Stanislao Grazioso","orcid":"https://orcid.org/0000-0003-4731-2370"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Stanislao Grazioso","raw_affiliation_strings":["Department of Industrial Engineering, University of Naples Federico II and CRE-ATE Consortium, Napoli, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Naples Federico II and CRE-ATE Consortium, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057314598","display_name":"Valentin Sonneville","orcid":"https://orcid.org/0000-0003-4489-4205"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Valentin Sonneville","raw_affiliation_strings":["Department of Aerospace Engineering, University of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085362794","display_name":"Giuseppe Di Gironimo","orcid":"https://orcid.org/0000-0003-1287-3223"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Di Gironimo","raw_affiliation_strings":["Department of Industrial Engineering, University of Naples Federico II and CRE-ATE Consortium, Napoli, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Naples Federico II and CRE-ATE Consortium, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023389996","display_name":"Olivier A. Bauchau","orcid":"https://orcid.org/0000-0002-3249-598X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Olivier Bauchau","raw_affiliation_strings":["Department of Aerospace Engineering, University of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090755079","display_name":"Bruno Siciliano","orcid":"https://orcid.org/0000-0002-1037-0588"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bruno Siciliano","raw_affiliation_strings":["PRISMA Lab, University of Naples Federico II and CREATE Consortium, Napoli, Italy"],"affiliations":[{"raw_affiliation_string":"PRISMA Lab, University of Naples Federico II and CREATE Consortium, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066924061"],"corresponding_institution_ids":["https://openalex.org/I71267560"],"apc_list":null,"apc_paid":null,"fwci":3.2136,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.92413882,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"185","last_page":"190"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9842000007629395,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9783999919891357,"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/finite-element-method","display_name":"Finite element method","score":0.7418533563613892},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6637566089630127},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.601900041103363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565993785858154},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5190896987915039},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48976945877075195},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.44536957144737244},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.41419315338134766},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4120837152004242},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3799664378166199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3115346431732178},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29542165994644165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25676268339157104},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.20005720853805542},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1727755069732666},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14922747015953064},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11847740411758423},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10966774821281433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08168685436248779}],"concepts":[{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.7418533563613892},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6637566089630127},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.601900041103363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565993785858154},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5190896987915039},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48976945877075195},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.44536957144737244},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.41419315338134766},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4120837152004242},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3799664378166199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3115346431732178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29542165994644165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25676268339157104},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.20005720853805542},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1727755069732666},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14922747015953064},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11847740411758423},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10966774821281433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08168685436248779},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/simpar.2016.7862394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W289820477","https://openalex.org/W1536964454","https://openalex.org/W1979710921","https://openalex.org/W1980771140","https://openalex.org/W1992007771","https://openalex.org/W2043042987","https://openalex.org/W2080992175","https://openalex.org/W2085285192","https://openalex.org/W2093385055","https://openalex.org/W2101039939","https://openalex.org/W2115384033","https://openalex.org/W2124507954","https://openalex.org/W2132720004","https://openalex.org/W2150549237","https://openalex.org/W2263354055","https://openalex.org/W2345140523","https://openalex.org/W4233065081","https://openalex.org/W4240801863","https://openalex.org/W6692903273"],"related_works":["https://openalex.org/W2351083540","https://openalex.org/W2953854768","https://openalex.org/W2389690162","https://openalex.org/W2039467239","https://openalex.org/W4231686530","https://openalex.org/W2060497234","https://openalex.org/W2326585759","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W4312269480"],"abstract_inverted_index":{"This":[0],"paper":[1,104],"presents":[2],"a":[3,27,37,58,76,119,131,139],"nonlinear":[4],"finite":[5],"element":[6,81],"formalism":[7],"for":[8,100],"modelling":[9],"the":[10,16,31,55,73,85,95,107,114,135],"dynamics":[11],"of":[12,30,57,61,75,110,116,118,138],"flexible":[13,78,120,155],"manipulators":[14],"using":[15],"special":[17],"Euclidean":[18],"group":[19],"SE(3)":[20],"framework.":[21],"The":[22,49],"method":[23],"is":[24,54],"based":[25,64,83],"on":[26,84],"local":[28],"description":[29],"motion":[32,117],"variables,":[33],"and":[34,70,123],"results":[35],"in":[36,102,128,146],"singularity":[38],"-":[39,63],"free":[40],"formulation":[41,112],"which":[42,67],"exhibits":[43],"important":[44],"advantages":[45],"regarding":[46],"numerical":[47],"implementation.":[48],"motivation":[50],"behind":[51],"this":[52,103,111],"work":[53],"development":[56],"new":[59],"class":[60],"model":[62,144],"control":[65],"systems":[66],"may":[68],"predict":[69],"thus":[71],"avoid":[72],"deformations":[74],"real":[77,151],"mechanism.":[79,156],"Finite":[80],"methods":[82],"geometrically":[86],"exact":[87],"beam":[88],"theory":[89],"have":[90],"been":[91],"proven":[92],"to":[93,98,148],"be":[94],"most":[96],"accurate":[97],"account":[99],"flexibility:":[101],"we":[105,124],"highlight":[106],"key":[108],"aspects":[109],"deriving":[113],"equations":[115],"constrained":[121],"manipulator":[122],"illustrate":[125],"its":[126,150],"potential":[127],"robotics":[129],"through":[130],"simple":[132],"case":[133],"study,":[134],"dynamic":[136],"analysis":[137],"two-link":[140],"manipulator,":[141],"simulating":[142],"different":[143],"assumptions":[145],"order":[147],"emphasize":[149],"physical":[152],"behavior":[153],"as":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
