{"id":"https://openalex.org/W2187770034","doi":"https://doi.org/10.1109/tro.2015.2496826","title":"Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler\u2013Lagrange Formalism","display_name":"Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler\u2013Lagrange Formalism","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2187770034","doi":"https://doi.org/10.1109/tro.2015.2496826","mag":"2187770034"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2496826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2496826","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5058247503","display_name":"Valentin Falkenhahn","orcid":"https://orcid.org/0000-0003-2855-9087"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Valentin Falkenhahn","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2855-9087","affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063572867","display_name":"Tobias Mahl","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Mahl","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090680559","display_name":"Alexander Hildebrandt","orcid":"https://orcid.org/0000-0003-3560-1642"},"institutions":[{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Hildebrandt","raw_affiliation_strings":["Research Mechatronics, Festo AG\u00a0&\u00a0Co.\u00a0KG, Esslingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Mechatronics, Festo AG\u00a0&\u00a0Co.\u00a0KG, Esslingen, Germany","institution_ids":["https://openalex.org/I4210158977"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113436450","display_name":"R\u00fcdiger Neumann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158977","display_name":"Festo (Germany)","ror":"https://ror.org/03ga8q162","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210158977"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudiger Neumann","raw_affiliation_strings":["Research Mechatronics, Festo AG\u00a0&\u00a0Co.\u00a0KG, Esslingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Mechatronics, Festo AG\u00a0&\u00a0Co.\u00a0KG, Esslingen, Germany","institution_ids":["https://openalex.org/I4210158977"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics (ISYS), University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2744,"has_fulltext":false,"cited_by_count":178,"citation_normalized_percentile":{"value":0.91894948,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"31","issue":"6","first_page":"1483","last_page":"1496"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.989300012588501,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9776999950408936,"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":0.6922534704208374},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6378636956214905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5568973422050476},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5168150663375854},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.4678666591644287},{"id":"https://openalex.org/keywords/bellows","display_name":"Bellows","score":0.45044177770614624},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4500494599342346},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4379063844680786},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4308469295501709},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4260559678077698},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.42333975434303284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4100346863269806},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.3252366781234741},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.2918640971183777},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23960119485855103},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21262040734291077},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1986185610294342},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17535430192947388},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1726512610912323},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.15390723943710327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.130282461643219}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6922534704208374},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6378636956214905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568973422050476},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5168150663375854},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.4678666591644287},{"id":"https://openalex.org/C2779410321","wikidata":"https://www.wikidata.org/wiki/Q208103","display_name":"Bellows","level":2,"score":0.45044177770614624},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4500494599342346},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4379063844680786},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4308469295501709},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4260559678077698},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.42333975434303284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4100346863269806},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.3252366781234741},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.2918640971183777},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23960119485855103},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21262040734291077},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1986185610294342},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17535430192947388},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1726512610912323},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.15390723943710327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.130282461643219},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/tro.2015.2496826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2496826","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1524590318","https://openalex.org/W1560270123","https://openalex.org/W1970557511","https://openalex.org/W1982995475","https://openalex.org/W1987370018","https://openalex.org/W1999914576","https://openalex.org/W2001803686","https://openalex.org/W2007443511","https://openalex.org/W2011562875","https://openalex.org/W2024931364","https://openalex.org/W2032788427","https://openalex.org/W2036784933","https://openalex.org/W2038057030","https://openalex.org/W2053614949","https://openalex.org/W2065984611","https://openalex.org/W2073677587","https://openalex.org/W2083143597","https://openalex.org/W2095462685","https://openalex.org/W2096645690","https://openalex.org/W2101440946","https://openalex.org/W2101667962","https://openalex.org/W2113265921","https://openalex.org/W2114779486","https://openalex.org/W2119531408","https://openalex.org/W2121744551","https://openalex.org/W2131451054","https://openalex.org/W2135275888","https://openalex.org/W2135485145","https://openalex.org/W2142044275","https://openalex.org/W2147492425","https://openalex.org/W2152019494","https://openalex.org/W2152205882","https://openalex.org/W2158730742","https://openalex.org/W2160825462","https://openalex.org/W2170645823","https://openalex.org/W2544405241","https://openalex.org/W3151286252","https://openalex.org/W4243874318","https://openalex.org/W6631371957","https://openalex.org/W6680005079"],"related_works":["https://openalex.org/W2991355169","https://openalex.org/W2032588411","https://openalex.org/W2518591596","https://openalex.org/W4385430464","https://openalex.org/W2572731987","https://openalex.org/W2386833263","https://openalex.org/W2165096105","https://openalex.org/W2107083588","https://openalex.org/W2063235357","https://openalex.org/W1995526872"],"abstract_inverted_index":{"In":[0],"the":[1,25,101,109,125,130],"previous":[2],"decade,":[3],"multiple":[4,40],"useful":[5],"approaches":[6,19],"for":[7,21,36,62,134],"kinematic":[8],"models":[9,52],"of":[10,27,53,73,100],"continuum":[11],"manipulators":[12,38,55],"were":[13],"successfully":[14],"developed.":[15],"However,":[16],"dynamic":[17,51,117],"modeling":[18],"needed":[20,133],"fast":[22],"simulations":[23,63],"and":[24,64,75,79,84,91,128],"development":[26],"model-based":[28,65,135],"controller":[29,136],"design":[30,137],"are":[31,104,112],"not":[32],"powerful":[33],"enough":[34],"yet-especially":[35],"spatial":[37],"with":[39,106],"sections.":[41],"Therefore,":[42],"a":[43,94],"practicable":[44],"lumped":[45],"mass":[46],"model":[47,69,103,118],"similar":[48],"to":[49,88,122],"common":[50],"rigid-link":[54],"is":[56],"needed,":[57],"which":[58],"can":[59,119],"be":[60,120],"used":[61,121],"control":[66],"design.":[67],"The":[68,98,115],"incorporates":[70],"mechanical":[71],"interconnections":[72],"parallel":[74],"serially":[76],"connected":[77],"bellows":[78],"uses":[80],"constant":[81],"curvature":[82],"kinematics":[83],"its":[85],"analytical":[86],"derivatives":[87],"balance":[89],"forces":[90],"energies":[92],"in":[93],"global":[95],"reference":[96],"frame.":[97],"parameters":[99],"resulting":[102],"identified":[105],"measurements":[107],"before":[108],"simulation":[110],"results":[111],"experimentally":[113],"validated.":[114],"obtained":[116],"both":[123],"simulate":[124],"manipulator":[126],"dynamics":[127,132],"calculate":[129],"inverse":[131],"or":[138],"path":[139],"planning.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":28},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}