FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2954869634> ?p ?o ?g. }

• W2954869634 endingPage "1108" @default.
• W2954869634 startingPage "1097" @default.
• W2954869634 abstract "Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance and accuracy for safety and, therefore, exhibit strong potential for applications in human-occupied spaces. Prior work has demonstrated their superiority in operation in congested spaces and manipulation of irregularly shaped objects. However, they are yet to be widely applied outside laboratory spaces. One key reason is that, due to compliance, they are difficult to control. Sophisticated and numerically efficient dynamic models are a necessity to implement dynamic control. In this paper, we propose a novel numerically stable center-of-gravity-based dynamic model for variable-length multisection continuum arms. The model can accommodate continuum robots having any number of sections with varying physical dimensions. The dynamic algorithm is of O (n <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>2</sup> ) complexity, runs at 9.5 kHz, simulates six to eight times faster than real time for a three-section continuum robot, and, therefore, is ideally suited for real-time control implementations. The model accuracy is validated numerically against an integral-dynamic model proposed by the authors and experimentally for a three-section pneumatically actuated variable-length multisection continuum arm. This is the first sub-real-time dynamic model based on a smooth continuous deformation model for variable-length multisection continuum arms." @default.
• W2954869634 created "2019-07-12" @default.
• W2954869634 creator A5009794922 @default.
• W2954869634 creator A5011466895 @default.
• W2954869634 creator A5026038506 @default.
• W2954869634 date "2019-10-01" @default.
• W2954869634 modified "2023-09-23" @default.
• W2954869634 title "Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms" @default.
• W2954869634 cites W1750689792 @default.
• W2954869634 cites W1925606516 @default.
• W2954869634 cites W1946746497 @default.
• W2954869634 cites W1966141623 @default.
• W2954869634 cites W1970557511 @default.
• W2954869634 cites W1985060396 @default.
• W2954869634 cites W1996023871 @default.
• W2954869634 cites W2001803686 @default.
• W2954869634 cites W2014502771 @default.
• W2954869634 cites W2015106839 @default.
• W2954869634 cites W2024931364 @default.
• W2954869634 cites W2027454283 @default.
• W2954869634 cites W2032788427 @default.
• W2954869634 cites W2036723211 @default.
• W2954869634 cites W2057371225 @default.
• W2954869634 cites W2060827890 @default.
• W2954869634 cites W2065984611 @default.
• W2954869634 cites W2073677587 @default.
• W2954869634 cites W2094832095 @default.
• W2954869634 cites W2096645690 @default.
• W2954869634 cites W2101667962 @default.
• W2954869634 cites W2103185242 @default.
• W2954869634 cites W2105169671 @default.
• W2954869634 cites W2114779486 @default.
• W2954869634 cites W2117280259 @default.
• W2954869634 cites W2121744551 @default.
• W2954869634 cites W2122398245 @default.
• W2954869634 cites W2131451054 @default.
• W2954869634 cites W2135485145 @default.
• W2954869634 cites W2137670317 @default.
• W2954869634 cites W2140516362 @default.
• W2954869634 cites W2147492425 @default.
• W2954869634 cites W2160229137 @default.
• W2954869634 cites W2184993170 @default.
• W2954869634 cites W2189764703 @default.
• W2954869634 cites W2214717143 @default.
• W2954869634 cites W2239999331 @default.
• W2954869634 cites W2413886764 @default.
• W2954869634 cites W2534144696 @default.
• W2954869634 cites W2575464634 @default.
• W2954869634 cites W2897782084 @default.
• W2954869634 cites W4243874318 @default.
• W2954869634 cites W618254468 @default.
• W2954869634 doi "https://doi.org/10.1109/tro.2019.2921153" @default.
• W2954869634 hasPublicationYear "2019" @default.
• W2954869634 type Work @default.
• W2954869634 sameAs 2954869634 @default.
• W2954869634 citedByCount "19" @default.
• W2954869634 countsByYear W29548696342020 @default.
• W2954869634 countsByYear W29548696342021 @default.
• W2954869634 countsByYear W29548696342022 @default.
• W2954869634 countsByYear W29548696342023 @default.
• W2954869634 crossrefType "journal-article" @default.
• W2954869634 hasAuthorship W2954869634A5009794922 @default.
• W2954869634 hasAuthorship W2954869634A5011466895 @default.
• W2954869634 hasAuthorship W2954869634A5026038506 @default.
• W2954869634 hasBestOaLocation W29548696341 @default.
• W2954869634 hasConcept C127413603 @default.
• W2954869634 hasConcept C132668919 @default.
• W2954869634 hasConcept C154945302 @default.
• W2954869634 hasConcept C160343418 @default.
• W2954869634 hasConcept C162324750 @default.
• W2954869634 hasConcept C187736073 @default.
• W2954869634 hasConcept C2775924081 @default.
• W2954869634 hasConcept C41008148 @default.
• W2954869634 hasConcept C44154836 @default.
• W2954869634 hasConcept C47446073 @default.
• W2954869634 hasConcept C66938386 @default.
• W2954869634 hasConcept C90509273 @default.
• W2954869634 hasConceptScore W2954869634C127413603 @default.
• W2954869634 hasConceptScore W2954869634C132668919 @default.
• W2954869634 hasConceptScore W2954869634C154945302 @default.
• W2954869634 hasConceptScore W2954869634C160343418 @default.
• W2954869634 hasConceptScore W2954869634C162324750 @default.
• W2954869634 hasConceptScore W2954869634C187736073 @default.
• W2954869634 hasConceptScore W2954869634C2775924081 @default.
• W2954869634 hasConceptScore W2954869634C41008148 @default.
• W2954869634 hasConceptScore W2954869634C44154836 @default.
• W2954869634 hasConceptScore W2954869634C47446073 @default.
• W2954869634 hasConceptScore W2954869634C66938386 @default.
• W2954869634 hasConceptScore W2954869634C90509273 @default.
• W2954869634 hasFunder F4320335353 @default.
• W2954869634 hasIssue "5" @default.
• W2954869634 hasLocation W29548696341 @default.
• W2954869634 hasLocation W29548696342 @default.
• W2954869634 hasOpenAccess W2954869634 @default.
• W2954869634 hasPrimaryLocation W29548696341 @default.
• W2954869634 hasRelatedWork W1566104123 @default.
• W2954869634 hasRelatedWork W1897438399 @default.
• W2954869634 hasRelatedWork W2026800644 @default.

• next