{"id":"https://openalex.org/W3112765272","doi":"https://doi.org/10.1109/smc42975.2020.9283135","title":"Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation","display_name":"Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation","publication_year":2020,"publication_date":"2020-10-11","ids":{"openalex":"https://openalex.org/W3112765272","doi":"https://doi.org/10.1109/smc42975.2020.9283135","mag":"3112765272"},"language":"en","primary_location":{"id":"doi:10.1109/smc42975.2020.9283135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc42975.2020.9283135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5101758001","display_name":"Hao Cheng","orcid":"https://orcid.org/0000-0003-2964-8022"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao Cheng","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houde Liu","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737125","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-3542-0593"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084","Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101758001"],"corresponding_institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.3891,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.79934072,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1929","last_page":"1936"},"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":0.9707000255584717,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.925599992275238,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.7090688943862915},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6875277757644653},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.6849871873855591},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.641644299030304},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.546900749206543},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49955081939697266},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44426360726356506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38128167390823364},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32559674978256226},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.295310914516449},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27254894375801086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25168561935424805},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23790967464447021},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17764487862586975},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17438992857933044},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06348791718482971}],"concepts":[{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.7090688943862915},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6875277757644653},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.6849871873855591},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.641644299030304},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.546900749206543},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49955081939697266},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44426360726356506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38128167390823364},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32559674978256226},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.295310914516449},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27254894375801086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25168561935424805},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23790967464447021},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17764487862586975},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17438992857933044},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06348791718482971}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc42975.2020.9283135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc42975.2020.9283135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1608655332","https://openalex.org/W1891615552","https://openalex.org/W1965456896","https://openalex.org/W1977757069","https://openalex.org/W2009421387","https://openalex.org/W2063797945","https://openalex.org/W2064043586","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2118341165","https://openalex.org/W2126182407","https://openalex.org/W2138072388","https://openalex.org/W2220495251","https://openalex.org/W2535547924","https://openalex.org/W2745859992","https://openalex.org/W2901506159","https://openalex.org/W2947094677","https://openalex.org/W2963665335","https://openalex.org/W2997897583","https://openalex.org/W3004346720","https://openalex.org/W3102327032","https://openalex.org/W6644524656"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2152432594","https://openalex.org/W3111769232","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2948699889","https://openalex.org/W2101598871"],"abstract_inverted_index":{"The":[0,23,126],"continuum":[1,28,54,72,109,137],"robot":[2,11,55,110],"has":[3],"attracted":[4],"more":[5],"attention":[6],"for":[7,17,71],"its":[8],"flexibility.":[9],"Continuum":[10],"kinematics":[12],"models":[13],"are":[14,30],"the":[15,34,44,49,53,83,88,102,104,108,118],"basis":[16],"further":[18],"perception,":[19,132],"planning,":[20,133],"and":[21,25,95,134],"control.":[22],"design":[24],"research":[26],"of":[27,36,46,52,107,120,128,136],"robots":[29,138],"usually":[31],"based":[32,100],"on":[33,101],"assumption":[35],"piecewise":[37,58],"constant":[38,59,123],"curvature":[39,60,124],"(PCC).":[40],"However,":[41],"due":[42],"to":[43,81,140],"influence":[45],"friction,":[47],"etc.,":[48],"actual":[50],"motion":[51],"is":[56,111],"approximate":[57,122],"(APCC).":[61],"To":[62],"address":[63],"this,":[64],"we":[65],"present":[66],"a":[67],"kinematic":[68],"equivalent":[69],"model":[70,85,91],"robots,":[73],"i.e.":[74],"APCC":[75,89,129],"2L-5R.":[76],"Using":[77],"classical":[78],"rigid":[79],"linkages":[80],"replace":[82],"original":[84],"in":[86,131],"kinematic,":[87],"2L-5R":[90,130],"effectively":[92],"reduces":[93],"complexity":[94],"improves":[96],"numerical":[97],"stability.":[98],"Furthermore,":[99],"model,":[103],"configuration":[105],"self-estimation":[106],"realized":[112],"by":[113],"monocular":[114],"cameras":[115],"installed":[116],"at":[117],"end":[119],"each":[121],"segment.":[125],"potential":[127],"control":[135],"remains":[139],"be":[141],"explored.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
