{"id":"https://openalex.org/W1925606516","doi":"https://doi.org/10.1177/0278364915596450","title":"Dynamics for variable length multisection continuum arms","display_name":"Dynamics for variable length multisection continuum arms","publication_year":2015,"publication_date":"2015-09-03","ids":{"openalex":"https://openalex.org/W1925606516","doi":"https://doi.org/10.1177/0278364915596450","mag":"1925606516"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915596450","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915596450","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://eprints.nottingham.ac.uk/33138/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026038506","display_name":"Isuru S. Godage","orcid":"https://orcid.org/0000-0001-6112-0813"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Isuru S. Godage","raw_affiliation_strings":["Department of Electrical and Computer\r        Engineering, Clemson University, USA","Department of Electrical and Computer#R# Engineering, Clemson University, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer\r        Engineering, Clemson University, USA","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical and Computer#R# Engineering, Clemson University, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074015451","display_name":"Gustavo A. Medrano\u2010Cerda","orcid":"https://orcid.org/0000-0002-6340-3443"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gustavo A. Medrano-Cerda","raw_affiliation_strings":["Department of Advanced Robotics, Istituto\r        Italiano di Tecnologia, Genoa, Italy","Department of Advanced Robotics, Istituto\r Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto\r        Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto\r Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002192089","display_name":"David T. Branson","orcid":"https://orcid.org/0000-0001-5818-666X"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David T. Branson","raw_affiliation_strings":["Mechanical, Materials and Manufacturing\r        Department, University of Nottingham, UK","Mechanical, Materials and Manufacturing Department, University of Nottingham, UK#TAB#"],"affiliations":[{"raw_affiliation_string":"Mechanical, Materials and Manufacturing\r        Department, University of Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]},{"raw_affiliation_string":"Mechanical, Materials and Manufacturing Department, University of Nottingham, UK#TAB#","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103456405","display_name":"Emanuele Guglielmino","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emanuele Guglielmino","raw_affiliation_strings":["Department of Advanced Robotics, Istituto\r        Italiano di Tecnologia, Genoa, Italy","Department of Advanced Robotics, Istituto\r Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto\r        Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto\r Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto\r        Italiano di Tecnologia, Genoa, Italy","Department of Advanced Robotics, Istituto\r Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto\r        Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto\r Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026038506"],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":5.1463,"has_fulltext":false,"cited_by_count":154,"citation_normalized_percentile":{"value":0.95741422,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"35","issue":"6","first_page":"695","last_page":"722"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9921000003814697,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9837999939918518,"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/kinematics","display_name":"Kinematics","score":0.6047468185424805},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5591781735420227},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.5408850312232971},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4468221068382263},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4160478413105011},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.40710482001304626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39057230949401855},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31467360258102417},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.307087242603302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2266826331615448}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6047468185424805},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5591781735420227},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.5408850312232971},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4468221068382263},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4160478413105011},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.40710482001304626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39057230949401855},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31467360258102417},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.307087242603302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2266826331615448},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364915596450","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915596450","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:eprints.nottingham.ac.uk:33138","is_oa":true,"landing_page_url":"http://eprints.nottingham.ac.uk/33138/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402013","display_name":"Nottingham ePrints (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"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":"","raw_type":"Article"},{"id":"pmh:oai:nottingham-repository.worktribe.com:782137","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/782137","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"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":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:eprints.nottingham.ac.uk:33138","is_oa":true,"landing_page_url":"http://eprints.nottingham.ac.uk/33138/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402013","display_name":"Nottingham ePrints (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"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":"","raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1528850474","https://openalex.org/W1590804794","https://openalex.org/W1965456896","https://openalex.org/W1966141623","https://openalex.org/W1966513134","https://openalex.org/W1970557511","https://openalex.org/W1977785674","https://openalex.org/W1985060396","https://openalex.org/W1992020923","https://openalex.org/W2001803686","https://openalex.org/W2007443511","https://openalex.org/W2014502771","https://openalex.org/W2018071836","https://openalex.org/W2024931364","https://openalex.org/W2049460350","https://openalex.org/W2053614949","https://openalex.org/W2057371225","https://openalex.org/W2063797945","https://openalex.org/W2070122598","https://openalex.org/W2073677587","https://openalex.org/W2080017937","https://openalex.org/W2087104703","https://openalex.org/W2094941093","https://openalex.org/W2096645690","https://openalex.org/W2100058787","https://openalex.org/W2103185242","https://openalex.org/W2112075057","https://openalex.org/W2112248299","https://openalex.org/W2114779486","https://openalex.org/W2117280259","https://openalex.org/W2119343887","https://openalex.org/W2119531408","https://openalex.org/W2121744551","https://openalex.org/W2124540383","https://openalex.org/W2126828342","https://openalex.org/W2127143922","https://openalex.org/W2131150943","https://openalex.org/W2131451054","https://openalex.org/W2134247245","https://openalex.org/W2135275888","https://openalex.org/W2135485145","https://openalex.org/W2137670317","https://openalex.org/W2143875202","https://openalex.org/W2145865271","https://openalex.org/W2150205249","https://openalex.org/W2152019494","https://openalex.org/W2154963387","https://openalex.org/W2156218502","https://openalex.org/W2156445644","https://openalex.org/W2160229137","https://openalex.org/W2161409436","https://openalex.org/W2162502118","https://openalex.org/W2168393068","https://openalex.org/W2169580741","https://openalex.org/W2241606133","https://openalex.org/W2413886764","https://openalex.org/W2534144696","https://openalex.org/W2610914687","https://openalex.org/W4244653237","https://openalex.org/W4251181231","https://openalex.org/W4365799851"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W1520492402"],"abstract_inverted_index":{"Variable":[0],"length":[1,41,126],"multisection":[2,112,127,204],"continuum":[3,9,21,51,113,128,170,206,223],"arms":[4,27,69,81,129],"are":[5,36,106,182,196],"a":[6,71,152,200],"class":[7,221],"of":[8,25,44,48,63,73,101,133,144,169,215,222],"robotic":[10],"manipulators":[11],"that":[12,164,177],"generate":[13],"motion":[14,145],"by":[15,38],"structural":[16],"mechanical":[17],"deformation.":[18],"Unlike":[19],"most":[20],"robots,":[22],"the":[23,45,50,60,64,99,142,178,209],"sections":[24,52,171],"these":[26,123],"do":[28],"not":[29],"have":[30,70],"(central)":[31],"supporting":[32],"flexible":[33],"backbone,":[34],"and":[35,88,98,121,159,187],"actuated":[37,203],"multiple":[39],"variable":[40,125],"actuators.":[42],"Because":[43],"constraining":[46],"nature":[47],"actuators,":[49],"can":[53],"bend":[54],"and/or":[55],"elongate":[56],"(compress)":[57],"depending":[58],"on":[59,156],"elongation/contraction":[61],"characteristics":[62],"actuators":[65],"being":[66],"used.":[67],"Continuum":[68],"number":[72,132],"distinctive":[74],"differences":[75],"with":[76,130],"respect":[77],"to":[78,95,124],"traditional":[79],"rigid":[80],"namely:":[82],"smooth":[83],"bending,":[84],"high":[85],"inherent":[86],"compliance,":[87],"adaptive":[89],"whole":[90],"arm":[91],"grasping.":[92],"However,":[93],"due":[94],"numerical":[96,189],"instability":[97],"complexity":[100],"curve":[102],"parametric":[103],"models,":[104],"there":[105],"no":[107],"spatial":[108,119,192,216],"dynamic":[109,193,217],"models":[110],"for":[111,140],"arms.":[114,224],"This":[115,148],"paper":[116],"introduces":[117],"novel":[118],"dynamics":[120,181],"applies":[122],"any":[131],"sections.":[134],"An":[135],"efficient":[136,186],"recursive":[137],"computational":[138],"scheme":[139],"deriving":[141],"equations":[143],"is":[146,149,175],"presented.":[147],"applied":[150],"in":[151,219],"general":[153],"form":[154],"based":[155],"structurally":[157],"accurate":[158,188],"numerically":[160],"well-posed":[161],"modal":[162,180],"kinematics":[163],"assumes":[165],"circular":[166],"arc":[167],"deformation":[168],"without":[172],"torsion.":[173],"It":[174],"shown":[176],"proposed":[179],"highly":[183],"scalable,":[184],"producing":[185],"results.":[190],"The":[191],"simulation":[194],"results":[195],"experimentally":[197],"validated":[198],"using":[199],"pneumatic":[201],"muscle":[202],"prototype":[205],"arm.":[207],"For":[208],"first":[210],"time":[211],"this":[212,220],"enables":[213],"investigation":[214],"effects":[218]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":21},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}