{"id":"https://openalex.org/W4388220103","doi":"https://doi.org/10.1145/3610419.3610491","title":"Virtual Tendon-Based Inverse Kinematics of Tendon-Driven Flexible Continuum Manipulators","display_name":"Virtual Tendon-Based Inverse Kinematics of Tendon-Driven Flexible Continuum Manipulators","publication_year":2023,"publication_date":"2023-07-05","ids":{"openalex":"https://openalex.org/W4388220103","doi":"https://doi.org/10.1145/3610419.3610491"},"language":"en","primary_location":{"id":"doi:10.1145/3610419.3610491","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3610419.3610491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances In Robotics - 6th International Conference of The Robotics Society","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/A5062911576","display_name":"Md Modassir Firdaus","orcid":"https://orcid.org/0000-0002-8230-0984"},"institutions":[{"id":"https://openalex.org/I27674431","display_name":"Indian Institute of Technology Gandhinagar","ror":"https://ror.org/0036p5w23","country_code":"IN","type":"education","lineage":["https://openalex.org/I27674431"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Md Modassir Firdaus","raw_affiliation_strings":["SMART Lab, Mechanical Engineering, Indian Institute of Technology Gandhinagar, IN"],"raw_orcid":"https://orcid.org/0000-0002-8230-0984","affiliations":[{"raw_affiliation_string":"SMART Lab, Mechanical Engineering, Indian Institute of Technology Gandhinagar, IN","institution_ids":["https://openalex.org/I27674431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028564486","display_name":"Madhu Vadali","orcid":"https://orcid.org/0000-0001-5056-4144"},"institutions":[{"id":"https://openalex.org/I27674431","display_name":"Indian Institute of Technology Gandhinagar","ror":"https://ror.org/0036p5w23","country_code":"IN","type":"education","lineage":["https://openalex.org/I27674431"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Madhu Vadali","raw_affiliation_strings":["SMART Lab, Mechanical Engineering, Indian Institute of Technology Gandhinagar, IN"],"raw_orcid":"https://orcid.org/0000-0001-5056-4144","affiliations":[{"raw_affiliation_string":"SMART Lab, Mechanical Engineering, Indian Institute of Technology Gandhinagar, IN","institution_ids":["https://openalex.org/I27674431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5062911576"],"corresponding_institution_ids":["https://openalex.org/I27674431"],"apc_list":null,"apc_paid":null,"fwci":0.4292,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58158591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"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":0.9987000226974487,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"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/kinematics","display_name":"Kinematics","score":0.7147631645202637},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6987927556037903},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.635040283203125},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.481050044298172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4281386137008667},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.33766859769821167},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2603664994239807},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25360530614852905},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.14494436979293823},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14383450150489807},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07515221834182739}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7147631645202637},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6987927556037903},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.635040283203125},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.481050044298172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4281386137008667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.33766859769821167},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2603664994239807},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25360530614852905},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.14494436979293823},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14383450150489807},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07515221834182739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3610419.3610491","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3610419.3610491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances In Robotics - 6th International Conference of The Robotics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W83083329","https://openalex.org/W1564897360","https://openalex.org/W2087104703","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2109496598","https://openalex.org/W2156218502","https://openalex.org/W2795456897","https://openalex.org/W3008950607","https://openalex.org/W4242968774","https://openalex.org/W4285285325","https://openalex.org/W4285306634","https://openalex.org/W6603407079"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2898458249"],"abstract_inverted_index":{"Tendon-driven":[0],"Flexible":[1],"Continuum":[2],"Manipulators":[3],"(FCMs)":[4],"have":[5],"proven":[6],"their":[7],"potential":[8],"usability":[9],"in":[10,62,77],"confined":[11],"and":[12,53,99,102,115,143],"unstructured":[13],"environments":[14],"where":[15],"rigid-link":[16],"manipulators":[17],"under-perform.":[18],"However,":[19],"inverse":[20,100],"kinematics":[21,101],"remains":[22],"a":[23,28,43,50,81,88,93,109,138],"challenge.":[24],"This":[25,117],"paper":[26],"presents":[27],"new":[29],"approach":[30,118],"that":[31,68],"relates":[32],"the":[33,37,54,58,65,70,75,78,97,113,120,123,133],"manipulator\u2019s":[34],"workspace":[35],"to":[36,74,129],"actuation":[38,45,124],"space.":[39],"In":[40],"this":[41],"approach,":[42],"virtual":[44,51,83],"space":[46,125],"is":[47,72],"defined,":[48],"comprising":[49],"tendon":[52,131],"bending":[55,71],"plane":[56],"of":[57,64,80,87,96,122],"manipulator.":[59],"The":[60,105],"change":[61,76],"lengths":[63],"actuating":[66],"tendons":[67,128],"cause":[69],"mapped":[73],"length":[79],"single":[82],"tendon.":[84],"An":[85],"example":[86,134],"tip-actuated":[89],"three-tendon":[90],"FCM":[91],"provides":[92],"detailed":[94],"description":[95],"forward":[98],"experimental":[103,106],"validations.":[104],"results":[107],"show":[108],"reasonable":[110],"match":[111],"between":[112],"commands":[114],"estimates.":[116],"reduces":[119],"order":[121],"from":[126],"three":[127],"one":[130],"for":[132,141],"system,":[135],"thus,":[136],"providing":[137],"simpler":[139],"method":[140],"designing":[142],"controlling":[144],"FCMs":[145],"with":[146],"multiple":[147],"sections.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
