{"id":"https://openalex.org/W4376605682","doi":"https://doi.org/10.1109/robosoft55895.2023.10121976","title":"Linear Kinematics for General Constant Curvature and Torsion Manipulators","display_name":"Linear Kinematics for General Constant Curvature and Torsion Manipulators","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605682","doi":"https://doi.org/10.1109/robosoft55895.2023.10121976"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10121976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","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/A5083797281","display_name":"Bill Fan","orcid":"https://orcid.org/0009-0007-0140-4655"},"institutions":[{"id":"https://openalex.org/I137428128","display_name":"Franklin W. Olin College of Engineering","ror":"https://ror.org/000zamq06","country_code":"US","type":"education","lineage":["https://openalex.org/I137428128"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bill Fan","raw_affiliation_strings":["Olin College of Engineering,Needham,MA,USA","Olin College of Engineering, Needham, MA, USA"],"affiliations":[{"raw_affiliation_string":"Olin College of Engineering,Needham,MA,USA","institution_ids":["https://openalex.org/I137428128"]},{"raw_affiliation_string":"Olin College of Engineering, Needham, MA, USA","institution_ids":["https://openalex.org/I137428128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060924335","display_name":"Farhan Rozaidi","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Farhan Rozaidi","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057600272","display_name":"Capprin Bass","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Capprin Bass","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060115334","display_name":"Gina Olson","orcid":"https://orcid.org/0000-0001-6521-5895"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]},{"id":"https://openalex.org/I177605424","display_name":"Amherst College","ror":"https://ror.org/028vqfs63","country_code":"US","type":"education","lineage":["https://openalex.org/I177605424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gina Olson","raw_affiliation_strings":["University of Massachusetts Amherst,Amherst,MA","University of Massachusetts Amherst, Amherst, MA"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts Amherst,Amherst,MA","institution_ids":["https://openalex.org/I24603500","https://openalex.org/I177605424"]},{"raw_affiliation_string":"University of Massachusetts Amherst, Amherst, MA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070351417","display_name":"Melinda Malley","orcid":null},"institutions":[{"id":"https://openalex.org/I137428128","display_name":"Franklin W. Olin College of Engineering","ror":"https://ror.org/000zamq06","country_code":"US","type":"education","lineage":["https://openalex.org/I137428128"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Melinda Malley","raw_affiliation_strings":["Olin College of Engineering,Needham,MA,USA","Olin College of Engineering, Needham, MA, USA"],"affiliations":[{"raw_affiliation_string":"Olin College of Engineering,Needham,MA,USA","institution_ids":["https://openalex.org/I137428128"]},{"raw_affiliation_string":"Olin College of Engineering, Needham, MA, USA","institution_ids":["https://openalex.org/I137428128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076997453","display_name":"Ross L. Hatton","orcid":"https://orcid.org/0000-0002-0422-0209"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross L Hatton","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University,Corvallis,OR,USA","Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University,Corvallis,OR,USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5083797281"],"corresponding_institution_ids":["https://openalex.org/I137428128"],"apc_list":null,"apc_paid":null,"fwci":0.3783,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.53147183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9961000084877014,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9861999750137329,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8354130387306213},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6321637630462646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6265944242477417},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.6040408611297607},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5519775152206421},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5330390334129333},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4942939281463623},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.48226481676101685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46666592359542847},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4354046881198883},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.37865495681762695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36688297986984253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3110807538032532},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.2887257933616638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24637165665626526},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.24149444699287415},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23593568801879883},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1889510452747345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10792064666748047},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07036074995994568}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8354130387306213},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6321637630462646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6265944242477417},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.6040408611297607},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5519775152206421},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5330390334129333},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4942939281463623},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.48226481676101685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46666592359542847},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4354046881198883},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.37865495681762695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36688297986984253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3110807538032532},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.2887257933616638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24637165665626526},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.24149444699287415},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23593568801879883},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1889510452747345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10792064666748047},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07036074995994568},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10121976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2023533942","https://openalex.org/W2053614949","https://openalex.org/W2073677587","https://openalex.org/W2101667962","https://openalex.org/W2147492425","https://openalex.org/W2565233142","https://openalex.org/W2775054021","https://openalex.org/W2831363072","https://openalex.org/W3090875899","https://openalex.org/W4200428696","https://openalex.org/W4288100565","https://openalex.org/W4289145348"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W1969999327","https://openalex.org/W3030642493","https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W3126987580","https://openalex.org/W2004147963","https://openalex.org/W2179800867","https://openalex.org/W4283266117","https://openalex.org/W2744818472"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,26],"novel":[3],"general":[4],"model":[5,44,72,81],"that":[6,35],"unifies":[7],"the":[8,59,71],"kinematics":[9,20],"of":[10,52,56,66],"constant":[11,14],"curvature":[12],"and":[13,54,68,76],"twist":[15],"continuum":[16],"manipulators.":[17],"Combining":[18],"this":[19],"with":[21,48,92],"energy-based":[22],"physics,":[23],"we":[24],"derive":[25],"linear":[27],"mapping":[28],"from":[29],"actuator":[30],"configuration":[31],"to":[32,38,84],"manipulator":[33],"deformation":[34],"is":[36,82],"analogous":[37],"traditional":[39],"robot":[40],"forward":[41],"kinematics.":[42],"Our":[43],"generalizes":[45],"across":[46],"manipulators":[47,91],"different":[49],"sizes,":[50],"types":[51,55],"bending,":[53],"actuators,":[57],"without":[58],"need":[60],"for":[61,74],"parameter":[62],"re-fitting.":[63],"The":[64],"combination":[65],"generality":[67],"linearity":[69],"makes":[70],"useful":[73],"control":[75],"planning":[77],"algorithms.":[78],"Finally,":[79],"our":[80],"shown":[83],"be":[85],"accurate":[86],"through":[87],"experimental":[88],"validation":[89],"on":[90],"pneumatic":[93],"artificial":[94],"muscles.":[95]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
