{"id":"https://openalex.org/W2017300555","doi":"https://doi.org/10.1155/2014/308283","title":"Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp","display_name":"Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2017300555","doi":"https://doi.org/10.1155/2014/308283","mag":"2017300555"},"language":"en","primary_location":{"id":"doi:10.1155/2014/308283","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/308283","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/308283.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2014/308283.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031888985","display_name":"Mohammad Dehghani","orcid":"https://orcid.org/0000-0003-0588-4151"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Mohammad Dehghani","raw_affiliation_strings":["Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009324734","display_name":"S. Ali A. Moosavian","orcid":"https://orcid.org/0000-0002-9117-7615"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Ali A. Moosavian","raw_affiliation_strings":["Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031888985"],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":900,"currency":"USD","value_usd":900},"fwci":0.7473,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.71350752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2014","issue":null,"first_page":"1","last_page":"13"},"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":0.9976999759674072,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9645000100135803,"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/grasp","display_name":"GRASP","score":0.8031466603279114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.691042423248291},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6756304502487183},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6571072936058044},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6039729118347168},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5780476331710815},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5331577062606812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44862040877342224},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4330779016017914},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.41234689950942993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3812587261199951},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3524790406227112},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.33722251653671265},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23933875560760498},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21471795439720154},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13103264570236206},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.07094290852546692}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8031466603279114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.691042423248291},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6756304502487183},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6571072936058044},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6039729118347168},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5780476331710815},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5331577062606812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44862040877342224},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4330779016017914},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.41234689950942993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3812587261199951},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3524790406227112},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.33722251653671265},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23933875560760498},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21471795439720154},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13103264570236206},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.07094290852546692},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2014/308283","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/308283","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/308283.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:36e81998f6114ea0a0150fb3832408fd","is_oa":true,"landing_page_url":"https://doaj.org/article/36e81998f6114ea0a0150fb3832408fd","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2014 (2014)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2014/308283","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/308283","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/308283.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2017300555.pdf","grobid_xml":"https://content.openalex.org/works/W2017300555.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1550906836","https://openalex.org/W1647719707","https://openalex.org/W1969092576","https://openalex.org/W1997060717","https://openalex.org/W2001803686","https://openalex.org/W2013253932","https://openalex.org/W2014297362","https://openalex.org/W2022984706","https://openalex.org/W2024931364","https://openalex.org/W2024990747","https://openalex.org/W2031938550","https://openalex.org/W2037148947","https://openalex.org/W2047303462","https://openalex.org/W2053614949","https://openalex.org/W2063797945","https://openalex.org/W2064649548","https://openalex.org/W2064854054","https://openalex.org/W2065984611","https://openalex.org/W2092710173","https://openalex.org/W2095462685","https://openalex.org/W2101667962","https://openalex.org/W2114779486","https://openalex.org/W2114877768","https://openalex.org/W2131563136","https://openalex.org/W2135047584","https://openalex.org/W2136493558","https://openalex.org/W2136678316","https://openalex.org/W2142271163","https://openalex.org/W2142828858","https://openalex.org/W2152019494","https://openalex.org/W2152205882","https://openalex.org/W2156218502","https://openalex.org/W2158817651","https://openalex.org/W2160229137","https://openalex.org/W2169676681","https://openalex.org/W2170584537","https://openalex.org/W2406410409","https://openalex.org/W2534144696"],"related_works":["https://openalex.org/W2100239260","https://openalex.org/W3082358784","https://openalex.org/W2089011450","https://openalex.org/W3022468211","https://openalex.org/W2065963568","https://openalex.org/W2540676782","https://openalex.org/W2888481972","https://openalex.org/W2944374256","https://openalex.org/W1581990354","https://openalex.org/W2017300555"],"abstract_inverted_index":{"Grasping":[0],"objects":[1],"by":[2],"continuum":[3,43,54,118,137],"arms":[4,44],"or":[5,80],"fingers":[6],"is":[7,57,121],"a":[8,116,140],"new":[9],"field":[10],"of":[11,20,41,53,67],"interest":[12],"in":[13],"robotics.":[14],"Continuum":[15],"manipulators":[16,56],"have":[17],"the":[18,28,60,70,136,146],"advantages":[19],"high":[21],"adaptation":[22],"and":[23,38,100],"compatibility":[24],"with":[25,109],"respect":[26],"to":[27,33,132],"object":[29],"shape.":[30],"However,":[31,95],"due":[32],"their":[34],"extremely":[35],"nonlinear":[36],"behavior":[37],"infinite":[39],"degrees":[40],"freedom,":[42],"cannot":[45],"be":[46,107],"easily":[47],"modeled.":[48],"In":[49,113,130],"fact,":[50],"dynamics":[51],"modeling":[52,62],"robotic":[55,119],"state-of-the-art.":[58],"Using":[59],"exact":[61],"approaches,":[63],"such":[64,84,91],"as":[65,92,126],"theory":[66],"Cosserat":[68],"rod,":[69],"resulting":[71],"models":[72,85],"are":[73,86,148],"either":[74],"too":[75],"much":[76],"time-taking":[77],"for":[78,89],"computation":[79],"numerically":[81],"unstable.":[82],"Thus,":[83],"not":[87],"suitable":[88],"applications":[90],"real-time":[93],"control.":[94],"based":[96],"on":[97],"realistic":[98],"assumptions":[99],"using":[101,150],"some":[102],"approximations,":[103],"these":[104],"systems":[105],"can":[106],"modeled":[108],"reasonable":[110],"computational":[111],"efforts.":[112],"this":[114],"paper,":[115],"planar":[117],"arm":[120,138],"modeled,":[122],"considering":[123],"its":[124,143],"backbone":[125],"two":[127],"circular":[128],"arcs.":[129],"order":[131],"simulate":[133],"finger":[134],"grasping,":[135],"experiences":[139],"point-force":[141],"along":[142],"body.":[144],"Finally,":[145],"results":[147],"validated":[149],"obtained":[151],"experimental":[152],"data.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}