{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,11]],"date-time":"2026-07-11T05:48:22Z","timestamp":1783748902753,"version":"3.55.0"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2020,9,5]],"date-time":"2020-09-05T00:00:00Z","timestamp":1599264000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,9,5]],"date-time":"2020-09-05T00:00:00Z","timestamp":1599264000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,12]]},"DOI":"10.1007\/s10846-020-01249-2","type":"journal-article","created":{"date-parts":[[2020,9,5]],"date-time":"2020-09-05T15:02:36Z","timestamp":1599318156000},"page":"879-897","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Experimental Study on Motion Control of Rope-Driven Snake Manipulator Using Velocity Mapping Method"],"prefix":"10.1007","volume":"100","author":[{"given":"Haiyu","family":"Gu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7025-3279","authenticated-orcid":false,"given":"Cheng","family":"Wei","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zeming","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yang","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,9,5]]},"reference":[{"key":"1249_CR1","doi-asserted-by":"publisher","first-page":"861","DOI":"10.1080\/01691864.2015.1036772","volume":"29","author":"MM Tonapi","year":"2015","unstructured":"Tonapi, M.M., Godage, I.S., Vijaykumar, A.M., Walker, I.D.: A novel continuum robotic cable aimed at applications in space. Adv. Robot. 29, 861\u2013875 (2015). https:\/\/doi.org\/10.1080\/01691864.2015.1036772","journal-title":"Adv. Robot."},{"key":"1249_CR2","doi-asserted-by":"publisher","first-page":"299","DOI":"10.1007\/s10846-010-9404-0","volume":"59","author":"SM Rezaei","year":"2010","unstructured":"Rezaei, S.M., Barazandeh, F., Haidarzadeh, M.S., Sadat, S.M.: The effect of snake muscular system on actuators\u2019 torque. J. Intell. Robot. Syst. 59, 299\u2013318 (2010). https:\/\/doi.org\/10.1007\/s10846-010-9404-0","journal-title":"J. Intell. Robot. Syst."},{"key":"1249_CR3","doi-asserted-by":"crossref","unstructured":"Dutta, P., Gotewal, K.K., Rastogi, N., et al.: A Hyper-Redundant Robot Development for Tokamak Inspection. In: Advances in Robotics. New Delhi, pp. 1\u20136 (2017)","DOI":"10.1145\/3132446.3134876"},{"key":"1249_CR4","doi-asserted-by":"publisher","first-page":"835","DOI":"10.1017\/S0263574713001082","volume":"32","author":"RJ Murphy","year":"2014","unstructured":"Murphy, R.J., Kutzer, M.D.M., Segreti, S.M., et al.: Design and kinematic characterization of a surgical manipulator with a focus on treating osteolysis. ROBOTICA 32, 835\u2013850 (2014). https:\/\/doi.org\/10.1017\/S0263574713001082","journal-title":"ROBOTICA"},{"key":"1249_CR5","doi-asserted-by":"publisher","unstructured":"Xu, D., Li, E., Liang, Z., Gao, Z.: Design and Tension Modeling of a Novel Cable-Driven Rigid Snake-Like Manipulator. J. Intell. Robot. Syst. https:\/\/doi.org\/10.1007\/s10846-019-01115-w (2020)","DOI":"10.1007\/s10846-019-01115-w"},{"key":"1249_CR6","doi-asserted-by":"publisher","first-page":"413","DOI":"10.1007\/s10846-017-0734-z","volume":"91","author":"A Amouri","year":"2018","unstructured":"Amouri, A., Zaatri, A., Mahfoudi, C.: Dynamic modeling of a class of continuum manipulators in fixed orientation. J. Intell. Robot. Syst. 91, 413\u2013424 (2018). https:\/\/doi.org\/10.1007\/s10846-017-0734-z","journal-title":"J. Intell. Robot. Syst."},{"key":"1249_CR7","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1016\/S0921-8890(99)00067-6","volume":"30","author":"R Vaidyanathan","year":"2000","unstructured":"Vaidyanathan, R., Chiel, H.J., Quinn, R.D.: A hydrostatic robot for marine applications. Robot. Auton. Syst. 30, 103\u2013113 (2000). https:\/\/doi.org\/10.1016\/S0921-8890(99)00067-6","journal-title":"Robot. Auton. Syst."},{"key":"1249_CR8","doi-asserted-by":"publisher","first-page":"21","DOI":"10.4173\/mic.2008.1.2","volume":"29","author":"P Liljeb\u00e4ck","year":"2008","unstructured":"Liljeb\u00e4ck, P., Stavdahl, \u00d8., Pettersen, K.Y.: Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control. MIC 29, 21\u201328 (2008). https:\/\/doi.org\/10.4173\/mic.2008.1.2","journal-title":"MIC"},{"key":"1249_CR9","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1177\/1729881417734458","volume":"172988141773445","author":"L Tang","year":"2017","unstructured":"Tang, L., Wang, J., Zheng, Y., et al.: Design of a cable-driven hyper-redundant robot with experimental validation. Int. J. Adv. Robot. Syst. 1729881417734458, 14 (2017). https:\/\/doi.org\/10.1177\/1729881417734458","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"1249_CR10","doi-asserted-by":"publisher","unstructured":"Tian, Y., Luan, M., Gao, X., et al.: Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods. Mathematical Problems in Engineering. https:\/\/doi.org\/10.1155\/2016\/6984194 (2016)","DOI":"10.1155\/2016\/6984194"},{"key":"1249_CR11","doi-asserted-by":"publisher","first-page":"422","DOI":"10.1177\/0278364915584806","volume":"35","author":"A Bajo","year":"2016","unstructured":"Bajo, A., Simaan, N.: Hybrid motion\/force control of multi-backbone continuum robots. Int. J. Robot. Res. 35, 422\u2013434 (2016). https:\/\/doi.org\/10.1177\/0278364915584806","journal-title":"Int. J. Robot. Res."},{"key":"1249_CR12","doi-asserted-by":"publisher","first-page":"224","DOI":"10.1017\/S0263574715000946","volume":"35","author":"S Cobos-Guzman","year":"2017","unstructured":"Cobos-Guzman, S., Palmer, D., Axinte, D.: Kinematic model to control the end-effector of a continuum robot for multi-axis processing. Robotica 35, 224\u2013240 (2017). https:\/\/doi.org\/10.1017\/S0263574715000946","journal-title":"Robotica"},{"key":"1249_CR13","doi-asserted-by":"crossref","unstructured":"Giorelli, M., Renda, F., Calisti, M., et al.: A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm. In: 2012 IEEE International Conference on Robotics and Automation. pp. 3819\u20133824 (2012)","DOI":"10.1109\/ICRA.2012.6225254"},{"key":"1249_CR14","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1016\/j.mechmachtheory.2014.01.017","volume":"77","author":"X Dong","year":"2014","unstructured":"Dong, X., Raffles, M., Guzman, S.C., et al.: Design and analysis of a family of snake arm robots connected by compliant joints. Mech. Mach. Theory 77, 73\u201391 (2014). https:\/\/doi.org\/10.1016\/j.mechmachtheory.2014.01.017","journal-title":"Mech. Mach. Theory"},{"key":"1249_CR15","doi-asserted-by":"publisher","first-page":"1142","DOI":"10.3390\/app9061142","volume":"9","author":"J Tang","year":"2019","unstructured":"Tang, J., Zhang, Y., Huang, F., et al.: Design and kinematic control of the Cable-Driven Hyper-Redundant manipulator for potential underwater applications. Appl. Sci. 9, 1142 (2019). https:\/\/doi.org\/10.3390\/app9061142","journal-title":"Appl. Sci."},{"key":"1249_CR16","doi-asserted-by":"crossref","unstructured":"Tonapi, M.M., Godage, I.S., Walker, I.D.: Design, modeling and performance evaluation of a long and slim continuum robotic cable. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems. pp. 2852\u20132859 (2014)","DOI":"10.1109\/IROS.2014.6942954"},{"key":"1249_CR17","doi-asserted-by":"publisher","unstructured":"Costa, P., Lima, J., Pereira, A.I., et al.: An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot. Proceedings of the Second International Afro-European Conference for Industrial Advancement AECIA 2015, pp. 433\u2013442. https:\/\/doi.org\/10.1007\/978-3-319-29504-6_41 (2016)","DOI":"10.1007\/978-3-319-29504-6_41"},{"key":"1249_CR18","doi-asserted-by":"publisher","first-page":"218","DOI":"10.1016\/j.rcim.2016.09.004","volume":"44","author":"X Dong","year":"2017","unstructured":"Dong, X., Axinte, D., Palmer, D., et al.: Development of a slender continuum robotic system for on-wing inspection\/repair of gas turbine engines. Robot. Comput.-Integr. Manuf. 44, 218\u2013229 (2017). https:\/\/doi.org\/10.1016\/j.rcim.2016.09.004","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"1249_CR19","doi-asserted-by":"publisher","unstructured":"Hannan, M.W., Walker, I.D.: Novel Kinematics for Continuum Robots. Advances in Robot Kinematics, pp. 227\u2013238. https:\/\/doi.org\/10.1007\/978-94-011-4120-8_24 (2000)","DOI":"10.1007\/978-94-011-4120-8_24"},{"key":"1249_CR20","doi-asserted-by":"crossref","unstructured":"Zhang, Z., Yang, G., Yeo, S.H.: Inverse kinematics of modular Cable-driven Snake-like Robots with flexible backbones. In: 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM), pp. 41\u201346 (2011)","DOI":"10.1109\/RAMECH.2011.6070453"},{"key":"1249_CR21","doi-asserted-by":"publisher","first-page":"1478","DOI":"10.1016\/j.robot.2014.05.013","volume":"62","author":"D Palmer","year":"2014","unstructured":"Palmer, D., Cobos-Guzman, S., Axinte, D.: Real-time method for tip following navigation of continuum snake arm robots. Robot. Auton. Syst. 62, 1478\u20131485 (2014). https:\/\/doi.org\/10.1016\/j.robot.2014.05.013","journal-title":"Robot. Auton. Syst."},{"key":"1249_CR22","unstructured":"Wang, H., Chen, W., Yu, X., et al.: Visual servo control of cable-driven soft robotic manipulator. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 57\u201362 (2013)"},{"key":"1249_CR23","doi-asserted-by":"publisher","first-page":"2242","DOI":"10.1109\/TCST.2017.2753167","volume":"26","author":"Q Guo","year":"2018","unstructured":"Guo, Q., Zhang, Y., Celler, B.G., Su, S.W.: State-Constrained Control of Single-Rod electrohydraulic actuator with parametric uncertainty and load disturbance. IEEE Trans. Contr. Syst. Technol. 26, 2242\u20132249 (2018). https:\/\/doi.org\/10.1109\/TCST.2017.2753167","journal-title":"IEEE Trans. Contr. Syst. Technol."},{"key":"1249_CR24","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1109\/3516.828592","volume":"5","author":"B Yao","year":"2000","unstructured":"Yao, B., Bu, F., Reedy, J., Chiu, G.T.-C.: Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments. IEEE\/ASME Trans. Mechatron. 5, 79\u201391 (2000). https:\/\/doi.org\/10.1109\/3516.828592","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1249_CR25","doi-asserted-by":"publisher","first-page":"927","DOI":"10.1109\/TCST.2017.2699166","volume":"26","author":"C Wang","year":"2018","unstructured":"Wang, C., Quan, L., Jiao, Z., Zhang, S.: Nonlinear adaptive control of hydraulic system with observing and compensating mismatching uncertainties. IEEE Trans. Contr. Syst. Technol. 26, 927\u2013938 (2018). https:\/\/doi.org\/10.1109\/TCST.2017.2699166","journal-title":"IEEE Trans. Contr. Syst. Technol."},{"key":"1249_CR26","doi-asserted-by":"publisher","first-page":"2681","DOI":"10.1049\/iet-cta.2018.5313","volume":"13","author":"S Djennoune","year":"2019","unstructured":"Djennoune, S., Bettayeb, M., Al-Saggaf, U.M.: Modulating function-based fast convergent observer and output feedback control for a class of non-linear systems. IET Control Theory Appl. 13, 2681\u20132693 (2019). https:\/\/doi.org\/10.1049\/iet-cta.2018.5313","journal-title":"IET Control Theory Appl."},{"key":"1249_CR27","doi-asserted-by":"publisher","first-page":"106789","DOI":"10.1016\/j.ymssp.2020.106789","volume":"142","author":"R Mohammadi Asl","year":"2020","unstructured":"Mohammadi Asl, R., Shabbouei Hagh, Y., Anavatti, S., Handroos, H.: Adaptive finite integral non-singular terminal synergetic control of nth-order nonlinear systems. Mech. Syst. Signal Process. 142, 106789 (2020). https:\/\/doi.org\/10.1016\/j.ymssp.2020.106789","journal-title":"Mech. Syst. Signal Process."},{"key":"1249_CR28","doi-asserted-by":"publisher","first-page":"132","DOI":"10.1109\/TMECH.2017.2746142","volume":"23","author":"X Yang","year":"2018","unstructured":"Yang, X., Zheng, X., Chen, Y.: Position tracking control law for an Electro-Hydraulic servo system based on backstepping and extended differentiator. IEEE\/ASME Trans. Mechatron. 23, 132\u2013140 (2018). https:\/\/doi.org\/10.1109\/TMECH.2017.2746142","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1249_CR29","unstructured":"RapiDyn. http:\/\/152.136.226.221\/index.php\/%E9%A6%96%E9%A1%B5. Accessed 27 May 2020"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01249-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-020-01249-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01249-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,9,4]],"date-time":"2021-09-04T23:25:11Z","timestamp":1630797911000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-020-01249-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9,5]]},"references-count":29,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2020,12]]}},"alternative-id":["1249"],"URL":"https:\/\/doi.org\/10.1007\/s10846-020-01249-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9,5]]},"assertion":[{"value":"10 March 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 August 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 September 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}