{"id":"https://openalex.org/W4320002894","doi":"https://doi.org/10.1109/tro.2023.3236942","title":"Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator","display_name":"Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator","publication_year":2023,"publication_date":"2023-01-27","ids":{"openalex":"https://openalex.org/W4320002894","doi":"https://doi.org/10.1109/tro.2023.3236942"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3236942","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3236942","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":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-03913430","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100742270","display_name":"Haihong Li","orcid":"https://orcid.org/0000-0002-6538-9884"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Haihong Li","raw_affiliation_strings":["Defrost Team, Inria, University of Lille, Centrale Lille, CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille - UMR 9189, Lille, France"],"affiliations":[{"raw_affiliation_string":"Defrost Team, Inria, University of Lille, Centrale Lille, CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille - UMR 9189, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I4210115519"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010507448","display_name":"Lingxiao Xun","orcid":"https://orcid.org/0000-0002-3924-6417"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lingxiao Xun","raw_affiliation_strings":["Defrost Team, Inria, University of Lille, Centrale Lille, CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille - UMR 9189, Lille, France"],"affiliations":[{"raw_affiliation_string":"Defrost Team, Inria, University of Lille, Centrale Lille, CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille - UMR 9189, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I4210115519"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038119641","display_name":"Gang Zheng","orcid":"https://orcid.org/0000-0002-5671-7700"},"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/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["CN","FR"],"is_corresponding":false,"raw_author_name":"Gang Zheng","raw_affiliation_strings":["School of Mathematics and Big Data, Foshan University, Foshan, China","University of Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, Lille, France"],"affiliations":[{"raw_affiliation_string":"School of Mathematics and Big Data, Foshan University, Foshan, China","institution_ids":["https://openalex.org/I14894300"]},{"raw_affiliation_string":"University of Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100742270"],"corresponding_institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I4210115519","https://openalex.org/I7454413"],"apc_list":null,"apc_paid":null,"fwci":4.2864,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.95113397,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"39","issue":"3","first_page":"2342","last_page":"2359"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"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/nonlinear-system","display_name":"Nonlinear system","score":0.6188614368438721},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6069351434707642},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5725201964378357},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5324251055717468},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5285141468048096},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5149258375167847},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.5036694407463074},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.496966153383255},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4829825460910797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44805052876472473},{"id":"https://openalex.org/keywords/cantilever","display_name":"Cantilever","score":0.4335888922214508},{"id":"https://openalex.org/keywords/partial-differential-equation","display_name":"Partial differential equation","score":0.41190049052238464},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.37714898586273193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3716745376586914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2451690137386322},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2421533167362213},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1975092887878418},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13349738717079163},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11341750621795654},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09847262501716614}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6188614368438721},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6069351434707642},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5725201964378357},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5324251055717468},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5285141468048096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5149258375167847},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.5036694407463074},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.496966153383255},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4829825460910797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44805052876472473},{"id":"https://openalex.org/C141354745","wikidata":"https://www.wikidata.org/wiki/Q17227","display_name":"Cantilever","level":2,"score":0.4335888922214508},{"id":"https://openalex.org/C93779851","wikidata":"https://www.wikidata.org/wiki/Q271977","display_name":"Partial differential equation","level":2,"score":0.41190049052238464},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.37714898586273193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3716745376586914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2451690137386322},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2421533167362213},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1975092887878418},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13349738717079163},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11341750621795654},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09847262501716614},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3236942","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3236942","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"},{"id":"pmh:oai:HAL:hal-03913430v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03913430","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2023, 39 (3), pp.2342-2359. &#x27E8;10.1109/TRO.2023.3236942&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03913430v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03913430","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2023, 39 (3), pp.2342-2359. &#x27E8;10.1109/TRO.2023.3236942&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3066956543","display_name":null,"funder_award_id":"202008440356","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G7257183286","display_name":null,"funder_award_id":"62073081","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"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W421662763","https://openalex.org/W1515749184","https://openalex.org/W1605573896","https://openalex.org/W1925606516","https://openalex.org/W1992498250","https://openalex.org/W2053614949","https://openalex.org/W2055845023","https://openalex.org/W2065009170","https://openalex.org/W2073677587","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2104143529","https://openalex.org/W2125860604","https://openalex.org/W2132720004","https://openalex.org/W2179806091","https://openalex.org/W2212668387","https://openalex.org/W2419095482","https://openalex.org/W2512635237","https://openalex.org/W2564779871","https://openalex.org/W2603097910","https://openalex.org/W2611929069","https://openalex.org/W2765094417","https://openalex.org/W2769154133","https://openalex.org/W2773367425","https://openalex.org/W2809027915","https://openalex.org/W2873597426","https://openalex.org/W2897782084","https://openalex.org/W2901112449","https://openalex.org/W2902699554","https://openalex.org/W2903955805","https://openalex.org/W2942096073","https://openalex.org/W2943279746","https://openalex.org/W2944321423","https://openalex.org/W2956230066","https://openalex.org/W2968328831","https://openalex.org/W2981873382","https://openalex.org/W2990316883","https://openalex.org/W2993799976","https://openalex.org/W2999072533","https://openalex.org/W3004346720","https://openalex.org/W3005576175","https://openalex.org/W3015303069","https://openalex.org/W3045935638","https://openalex.org/W3081048745","https://openalex.org/W3090875899","https://openalex.org/W3094602192","https://openalex.org/W3171031826","https://openalex.org/W4205369967","https://openalex.org/W4205510932"],"related_works":["https://openalex.org/W4312473168","https://openalex.org/W2326585759","https://openalex.org/W4211124276","https://openalex.org/W4312269480","https://openalex.org/W2133947431","https://openalex.org/W2490196280","https://openalex.org/W3182827720","https://openalex.org/W1596838019","https://openalex.org/W3208509670","https://openalex.org/W2109304297"],"abstract_inverted_index":{"Recently":[0],"soft":[1,38,47,144],"robotics":[2],"has":[3],"rapidly":[4],"become":[5],"a":[6,53,73,118,142,147],"novel":[7],"and":[8,16,22,43,156],"promising":[9],"area":[10],"of":[11,36,45,55,86,102,110,141],"research":[12],"with":[13,175],"many":[14],"designs":[15],"applications":[17],"due":[18],"to":[19,30,82,136],"their":[20],"flexible":[21],"compliant":[23],"structure.":[24],"However,":[25],"it":[26],"is":[27,121,134,154],"more":[28],"difficult":[29],"derive":[31],"the":[32,46,63,84,92,100,103,107,111,137,157,171],"nonlinear":[33,57],"dynamic":[34],"model":[35,109,133,153,172],"such":[37],"robots.":[39],"The":[40],"differential":[41,59],"kinematics":[42],"dynamics":[44],"manipulator":[48],"can":[49,169],"be":[50],"formulated":[51],"as":[52,117,159,161],"set":[54],"highly":[56],"partial":[58],"equations":[60],"(PDEs)":[61],"via":[62],"classic":[64],"Cosserat":[65,105,132],"rod":[66,114],"theory.":[67],"In":[68],"this":[69,152,167],"work,":[70],"we":[71],"propose":[72],"discrete":[74],"modeling":[75],"technique":[76],"named":[77],"piecewise":[78],"linear":[79],"strain":[80],"(PLS)":[81],"solve":[83],"PDEs":[85],"Cosserat-based":[87],"models,":[88],"based":[89],"on":[90],"which":[91],"associated":[93],"analytic":[94],"models":[95],"are":[96],"deduced.":[97],"To":[98],"validate":[99],"accuracy":[101],"proposed":[104],"model,":[106],"static":[108],"conical":[112],"cantilever":[113],"under":[115],"gravity":[116],"simple":[119],"example":[120],"simulated":[122],"by":[123],"using":[124,166],"different":[125],"discretization":[126],"methods.":[127],"Results":[128],"indicate":[129],"that":[130,165],"PLS":[131],"comparable":[135],"mechanical":[138],"deformation":[139],"behavior":[140],"real-world":[143],"manipulator.":[145],"Finally,":[146],"parameters":[148,174],"identification":[149],"scheme":[150],"for":[151],"established,":[155],"simulation":[158],"well":[160],"experimental":[162],"validation":[163],"demonstrate":[164],"method":[168],"identify":[170],"physical":[173],"high":[176],"accuracy.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":7}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
