{"id":"https://openalex.org/W4315649248","doi":"https://doi.org/10.1109/tro.2023.3238171","title":"Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives","display_name":"Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives","publication_year":2023,"publication_date":"2023-04-19","ids":{"openalex":"https://openalex.org/W4315649248","doi":"https://doi.org/10.1109/tro.2023.3238171"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3238171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3238171","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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://hal.science/hal-03935561v1/file/Tummers_TRO2023_Cosserat_Rod_Modeling_of_Continuum_Robotsfrom_Newtonian_and_Lagrangian_Perspectives.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029150144","display_name":"Matthias Tummers","orcid":"https://orcid.org/0000-0001-8024-6446"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"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/I4210104684","display_name":"VetAgro Sup","ror":"https://ror.org/01c7wz417","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210104684"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Matthias Tummers","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, UMR 5525, VetAgro Sup, Grenoble INP, TIMC, Grenoble, France"],"raw_orcid":"https://orcid.org/0000-0001-8024-6446","affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, UMR 5525, VetAgro Sup, Grenoble INP, TIMC, Grenoble, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210104684","https://openalex.org/I899635006","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051124210","display_name":"Vincent Lebastard","orcid":"https://orcid.org/0000-0001-7306-2286"},"institutions":[{"id":"https://openalex.org/I205703379","display_name":"Institut Mines-T\u00e9l\u00e9com","ror":"https://ror.org/025vp2923","country_code":"FR","type":"facility","lineage":["https://openalex.org/I205703379"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Lebastard","raw_affiliation_strings":["LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France"],"raw_orcid":"https://orcid.org/0000-0001-7306-2286","affiliations":[{"raw_affiliation_string":"LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France","institution_ids":["https://openalex.org/I205703379","https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070115867","display_name":"Fr\u00e9d\u00e9ric Boyer","orcid":"https://orcid.org/0000-0003-0021-9590"},"institutions":[{"id":"https://openalex.org/I205703379","display_name":"Institut Mines-T\u00e9l\u00e9com","ror":"https://ror.org/025vp2923","country_code":"FR","type":"facility","lineage":["https://openalex.org/I205703379"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fr\u00e9d\u00e9ric Boyer","raw_affiliation_strings":["LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France","institution_ids":["https://openalex.org/I205703379","https://openalex.org/I97188460","https://openalex.org/I4210117005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083741691","display_name":"Jocelyne Troccaz","orcid":"https://orcid.org/0000-0001-5921-9419"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"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/I4210104684","display_name":"VetAgro Sup","ror":"https://ror.org/01c7wz417","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210104684"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jocelyne Troccaz","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, UMR 5525, VetAgro Sup, Grenoble INP, TIMC, Grenoble, France"],"raw_orcid":"https://orcid.org/0000-0001-5921-9419","affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, UMR 5525, VetAgro Sup, Grenoble INP, TIMC, Grenoble, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210104684","https://openalex.org/I899635006","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082681793","display_name":"Beno\u00eet Rosa","orcid":"https://orcid.org/0000-0002-7605-2056"},"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/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Beno\u00eet Rosa","raw_affiliation_strings":["ICube Laboratory, CNRS-Strasbourg University, Illkirch-Graffenstaden, France"],"raw_orcid":"https://orcid.org/0000-0002-7605-2056","affiliations":[{"raw_affiliation_string":"ICube Laboratory, CNRS-Strasbourg University, Illkirch-Graffenstaden, France","institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086707266","display_name":"Mohamed Taha Chikhaoui","orcid":"https://orcid.org/0000-0001-9043-6251"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"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/I4210104684","display_name":"VetAgro Sup","ror":"https://ror.org/01c7wz417","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210104684"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Taha Chikhaoui","raw_affiliation_strings":["Univ. Grenoble Alpes, CNRS, UMR 5525, VetAgro Sup, Grenoble INP, TIMC, Grenoble, France"],"raw_orcid":"https://orcid.org/0000-0001-9043-6251","affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, CNRS, UMR 5525, VetAgro Sup, Grenoble INP, TIMC, Grenoble, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210104684","https://openalex.org/I899635006","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1541,"has_fulltext":true,"cited_by_count":63,"citation_normalized_percentile":{"value":0.97537472,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"39","issue":"3","first_page":"2360","last_page":"2378"},"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":0.9970999956130981,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9919000267982483,"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/robot","display_name":"Robot","score":0.6445645093917847},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.5818008780479431},{"id":"https://openalex.org/keywords/newtonian-fluid","display_name":"Newtonian fluid","score":0.5214380621910095},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.4873088598251343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36994728446006775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34692537784576416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3387552797794342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2806023359298706},{"id":"https://openalex.org/keywords/theoretical-physics","display_name":"Theoretical physics","score":0.23319554328918457}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6445645093917847},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.5818008780479431},{"id":"https://openalex.org/C294558","wikidata":"https://www.wikidata.org/wiki/Q366968","display_name":"Newtonian fluid","level":2,"score":0.5214380621910095},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.4873088598251343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36994728446006775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34692537784576416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3387552797794342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2806023359298706},{"id":"https://openalex.org/C33332235","wikidata":"https://www.wikidata.org/wiki/Q18362","display_name":"Theoretical physics","level":1,"score":0.23319554328918457}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3238171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3238171","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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-03935561v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03935561","pdf_url":"https://hal.science/hal-03935561v1/file/Tummers_TRO2023_Cosserat_Rod_Modeling_of_Continuum_Robotsfrom_Newtonian_and_Lagrangian_Perspectives.pdf","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2023, 39 (3), pp.2360-2378. &#x27E8;10.1109/TRO.2023.3238171&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03935561v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03935561","pdf_url":"https://hal.science/hal-03935561v1/file/Tummers_TRO2023_Cosserat_Rod_Modeling_of_Continuum_Robotsfrom_Newtonian_and_Lagrangian_Perspectives.pdf","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2023, 39 (3), pp.2360-2378. &#x27E8;10.1109/TRO.2023.3238171&#x27E9;","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1004588981","display_name":"Institut de Chirurgie Mini-Invasive guid\u00e9e par l\u2019Image","funder_award_id":"ANR-10-IAHU-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G1041279674","display_name":"MIAI @ Grenoble Alpes","funder_award_id":"ANR-19-P3IA-0003","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G1744618007","display_name":"Multi-Actuated Continuum Robots for Minimally Invasive Surgery","funder_award_id":"ANR-18-CE19-0012","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G1801824165","display_name":"Gestes M\u00e9dico-Chirurgicaux Assist\u00e9s par Ordinateur","funder_award_id":"ANR-11-LABX-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G2092057362","display_name":null,"funder_award_id":"19-P3IA-0003","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G2776477858","display_name":null,"funder_award_id":"ANR-20-CE33","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6127884419","display_name":null,"funder_award_id":"10-IAHU-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6390036288","display_name":null,"funder_award_id":"ANR-11-LABX-0004-01","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6876561401","display_name":null,"funder_award_id":"ANR-18","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G7240651115","display_name":null,"funder_award_id":"ANR-10","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G8318455765","display_name":null,"funder_award_id":"ANR-19","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G8345998766","display_name":"COSserat theory for SlEnder RObOTS","funder_award_id":"ANR-20-CE33-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4315649248.pdf","grobid_xml":"https://content.openalex.org/works/W4315649248.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1490180844","https://openalex.org/W1508861003","https://openalex.org/W1524590822","https://openalex.org/W1541162015","https://openalex.org/W1965456896","https://openalex.org/W1987370018","https://openalex.org/W2006104867","https://openalex.org/W2015050218","https://openalex.org/W2027454283","https://openalex.org/W2053614949","https://openalex.org/W2055845023","https://openalex.org/W2060978823","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2133231729","https://openalex.org/W2135485145","https://openalex.org/W2138564331","https://openalex.org/W2147492425","https://openalex.org/W2165151632","https://openalex.org/W2184993170","https://openalex.org/W2312644716","https://openalex.org/W2406519259","https://openalex.org/W2412393833","https://openalex.org/W2737666157","https://openalex.org/W2739012036","https://openalex.org/W2773367425","https://openalex.org/W2775054021","https://openalex.org/W2901701174","https://openalex.org/W2909729638","https://openalex.org/W2942096073","https://openalex.org/W2987061965","https://openalex.org/W2990316883","https://openalex.org/W2993799976","https://openalex.org/W3015303069","https://openalex.org/W3090929015","https://openalex.org/W3124253506","https://openalex.org/W3127964809","https://openalex.org/W3131250362","https://openalex.org/W3132736524","https://openalex.org/W3157533866","https://openalex.org/W3168574912","https://openalex.org/W4205798507","https://openalex.org/W4210927443","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2752454479","https://openalex.org/W3171631314","https://openalex.org/W2042582596","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W4294253879","https://openalex.org/W2184085865","https://openalex.org/W2082635999"],"abstract_inverted_index":{"Cosserat":[0,59],"rod":[1,60],"theory":[2,24],"proved":[3],"efficient":[4],"modeling":[5],"performances":[6,106],"in":[7,10,16,45],"robotics,":[8],"especially":[9],"the":[11,17,34,63],"context":[12],"of":[13,22,37,79,86,98,104],"continuum":[14,43],"robots,":[15],"past":[18],"decade.":[19],"The":[20],"implementation":[21,78],"such":[23],"is":[25,91],"far":[26],"from":[27],"being":[28],"unique":[29],"and":[30,65,76,96,101,107],"straightforward.":[31],"We":[32,68],"consider":[33],"illustrative":[35],"example":[36],"multisegment,":[38],"general":[39],"routing":[40],"tendon":[41],"actuated":[42],"robots":[44],"their":[46,105,113],"nominal":[47],"static":[48],"operating":[49],"regime.":[50],"This":[51,88],"article":[52],"details":[53],"two":[54],"main":[55],"approaches":[56],"based":[57],"on":[58],"modeling,":[61],"namely,":[62],"Newtonian":[64],"Lagrangian":[66],"approaches.":[67],"provide":[69],"a":[70,84],"walk-through":[71],"guide":[72],"regarding":[73],"theoretical":[74],"derivations":[75],"numerical":[77],"both":[80],"approaches,":[81],"together":[82],"with":[83,93],"proof":[85],"equivalence.":[87],"comparative":[89],"study":[90],"supplemented":[92],"novel":[94],"contributions":[95],"extensions":[97],"each":[99],"approach":[100],"in-depth":[102],"discussion":[103],"applicability,":[108],"as":[109,111],"well":[110],"highlighting":[112],"special":[114],"features.":[115]},"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":8}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}
