{"id":"https://openalex.org/W4310936473","doi":"https://doi.org/10.1109/taes.2022.3217746","title":"Hyper-Redundant Manipulators for Operations in Confined Space: Typical Applications, Key Technologies, and Grand Challenges","display_name":"Hyper-Redundant Manipulators for Operations in Confined Space: Typical Applications, Key Technologies, and Grand Challenges","publication_year":2022,"publication_date":"2022-11-04","ids":{"openalex":"https://openalex.org/W4310936473","doi":"https://doi.org/10.1109/taes.2022.3217746"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2022.3217746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3217746","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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":"https://openalex.org/A5100695049","display_name":"Zonggao Mu","orcid":"https://orcid.org/0000-0001-9289-5902"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zonggao Mu","raw_affiliation_strings":["School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","Smartech Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Smartech Institute, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101541030","display_name":"Luyang Zhang","orcid":"https://orcid.org/0000-0003-3431-9629"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luyang Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","Smartech Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Smartech Institute, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019936956","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0003-1493-7147"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Yan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016253728","display_name":"Zixuan Li","orcid":"https://orcid.org/0000-0003-1667-4432"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Li","raw_affiliation_strings":["School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","Smartech Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Smartech Institute, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015889905","display_name":"Ruichun Dong","orcid":"https://orcid.org/0000-0001-8372-4116"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruichun Dong","raw_affiliation_strings":["School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","Smartech Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]},{"raw_affiliation_string":"Smartech Institute, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082009456","display_name":"Chengjiang Wang","orcid":"https://orcid.org/0000-0002-6294-5128"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengjiang Wang","raw_affiliation_strings":["School of Science and Engineering, Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031792794","display_name":"Ning Ding","orcid":"https://orcid.org/0000-0001-5618-6359"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Ding","raw_affiliation_strings":["School of Science and Engineering, Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100695049"],"corresponding_institution_ids":["https://openalex.org/I119203015"],"apc_list":null,"apc_paid":null,"fwci":2.7217,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.90701756,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"58","issue":"6","first_page":"4928","last_page":"4937"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5994230508804321},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5481840968132019},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4756702482700348},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44622957706451416},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.41241368651390076},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2229333519935608},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17507413029670715}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5994230508804321},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5481840968132019},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4756702482700348},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44622957706451416},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.41241368651390076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2229333519935608},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17507413029670715},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2022.3217746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3217746","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1716633928","display_name":null,"funder_award_id":"61903100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2265996673","display_name":null,"funder_award_id":"U1813216","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3211235147","display_name":null,"funder_award_id":"62203140","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G931910580","display_name":null,"funder_award_id":"52005305","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":77,"referenced_works":["https://openalex.org/W1541938999","https://openalex.org/W1872679111","https://openalex.org/W1965456896","https://openalex.org/W1976270646","https://openalex.org/W1977431861","https://openalex.org/W1978082245","https://openalex.org/W1990081588","https://openalex.org/W1990749542","https://openalex.org/W1997060717","https://openalex.org/W2002967483","https://openalex.org/W2013033396","https://openalex.org/W2014502771","https://openalex.org/W2023533942","https://openalex.org/W2024009549","https://openalex.org/W2042356665","https://openalex.org/W2046748649","https://openalex.org/W2049750110","https://openalex.org/W2054120788","https://openalex.org/W2063797945","https://openalex.org/W2063892770","https://openalex.org/W2065682774","https://openalex.org/W2067320357","https://openalex.org/W2071755483","https://openalex.org/W2076245689","https://openalex.org/W2101667962","https://openalex.org/W2109947513","https://openalex.org/W2110062942","https://openalex.org/W2111897071","https://openalex.org/W2114505169","https://openalex.org/W2117257735","https://openalex.org/W2118997958","https://openalex.org/W2125240299","https://openalex.org/W2133755292","https://openalex.org/W2133979208","https://openalex.org/W2137670317","https://openalex.org/W2139122241","https://openalex.org/W2144830405","https://openalex.org/W2146595896","https://openalex.org/W2147492425","https://openalex.org/W2150495160","https://openalex.org/W2151886599","https://openalex.org/W2158586085","https://openalex.org/W2167179110","https://openalex.org/W2167298574","https://openalex.org/W2169814710","https://openalex.org/W2173736171","https://openalex.org/W2184993170","https://openalex.org/W2271075069","https://openalex.org/W2290458263","https://openalex.org/W2414430719","https://openalex.org/W2559360294","https://openalex.org/W2742651279","https://openalex.org/W2757739257","https://openalex.org/W2782862780","https://openalex.org/W2809024533","https://openalex.org/W3006551598","https://openalex.org/W3038681003","https://openalex.org/W3041836606","https://openalex.org/W3046983221","https://openalex.org/W3072147888","https://openalex.org/W3083537235","https://openalex.org/W3090044050","https://openalex.org/W3090913874","https://openalex.org/W3113040990","https://openalex.org/W3138919713","https://openalex.org/W3153052730","https://openalex.org/W3182578879","https://openalex.org/W3185419978","https://openalex.org/W3192342399","https://openalex.org/W3200868167","https://openalex.org/W4251469032","https://openalex.org/W6676532969","https://openalex.org/W6680656769","https://openalex.org/W6683087287","https://openalex.org/W6693787782","https://openalex.org/W6730023826","https://openalex.org/W6799730721"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338"],"abstract_inverted_index":{"In":[0,93],"this":[1,94,106],"article,":[2,95],"we":[3,152],"review":[4],"the":[5,8,63,80,96,99,103,111,122,126,140,146],"state":[6,101],"of":[7,29,62,83,98,102,113,142,148,192],"art":[9,104],"in":[10,15,56,68,105,145,179],"hyper-redundant":[11,34,86,136,193],"manipulators":[12,35,70,87,137],"for":[13,135,186],"applications":[14,116],"confined":[16,57],"space":[17],"such":[18],"as":[19],"<sc":[20],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[21,196],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">on</small>":[22],"-orbit":[23],"services.":[24],"With":[25],"their":[26],"multiple":[27],"degrees":[28],"freedom":[30],"and":[31,40,50,65,76,91,117,132,138,174,190],"slender":[32],"links,":[33],"can":[36,44],"offer":[37],"superior":[38],"dexterity":[39],"excellent":[41],"operability.":[42],"They":[43],"traverse":[45],"freely,":[46],"manipulate":[47],"objects":[48],"flexibly,":[49],"conform":[51],"to":[52,79,158],"curvilinear":[53],"paths":[54],"accurately":[55],"spaces.":[58],"The":[59],"by-design":[60],"separation":[61],"mechanical":[64],"electrical":[66],"parts":[67],"these":[69,143,180],"also":[71],"offers":[72],"inherent":[73],"structural":[74],"compliance":[75],"miniaturization.":[77],"Due":[78],"elastic":[81],"characteristics":[82],"driving":[84],"cables,":[85],"have":[88],"both":[89,114],"stiffness":[90,172],"flexibility.":[92],"overviews":[97],"current":[100],"field":[107],"are":[108],"provided":[109],"from":[110],"perspectives":[112],"typical":[115],"key":[118],"technologies.":[119],"We":[120],"detailed":[121],"relevant":[123],"studies":[124,144],"on":[125],"configuration,":[127],"obstacle":[128],"avoidance,":[129],"path":[130,188],"planning,":[131],"control":[133,191],"technologies":[134],"highlight":[139],"use":[141],"development":[147],"practical":[149],"applications.":[150],"Furthermore,":[151],"propose":[153],"several":[154],"aspects":[155],"that":[156],"need":[157],"be":[159],"further":[160],"studied,":[161],"namely":[162],"efficient":[163],"inverse":[164],"kinematics":[165],"solution,":[166],"strong":[167],"coupled":[168],"dynamics":[169],"modeling,":[170],"variable":[171],"control,":[173],"multiobjective":[175],"trajectory":[176],"optimization.":[177],"Breakthroughs":[178],"areas":[181],"will":[182],"provide":[183],"valuable":[184],"solutions":[185],"complex":[187],"planning":[189],"manipulators.":[194],"<sup":[195],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2025-10-10T00:00:00"}
