{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T16:27:27Z","timestamp":1761928047658,"version":"3.37.3"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T00:00:00Z","timestamp":1682899200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T00:00:00Z","timestamp":1682899200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP22F21076","JP21H05055","JP19H01130"],"award-info":[{"award-number":["JP22F21076","JP21H05055","JP19H01130"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,5]]},"DOI":"10.1007\/s10846-023-01811-8","type":"journal-article","created":{"date-parts":[[2023,5,17]],"date-time":"2023-05-17T07:01:59Z","timestamp":1684306919000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Imitation-based Path Planning and Nonlinear Model Predictive Control of a Multi-Section Continuum Robots"],"prefix":"10.1007","volume":"108","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3733-4982","authenticated-orcid":false,"given":"Ibrahim A.","family":"Seleem","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2296-616X","authenticated-orcid":false,"given":"Haitham","family":"El-Hussieny","sequence":"additional","affiliation":[]},{"given":"Hiroyuki","family":"Ishii","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,5,17]]},"reference":[{"key":"1811_CR1","unstructured":"El-Hussieny, H., Jeong, S.G., Ryu, J.H.: Dynamic modeling of a class of soft growing robots using euler-lagrange formalism. Society of Instrument and Control Engineers (2019)"},{"issue":"3","key":"1811_CR2","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1007\/s13534-020-00157-6","volume":"10","author":"T Ashuri","year":"2020","unstructured":"Ashuri, T., Armani, A., Jalilzadeh Hamidi, R., Reasnor, T., Ahmadi, S., Iqbal, K.: Biomedical soft robots: Current status and perspective. Biomed. Eng. Lett. 10(3), 369\u2013385 (2020)","journal-title":"Biomed. Eng. Lett."},{"issue":"6","key":"1811_CR3","doi-asserted-by":"publisher","first-page":"625","DOI":"10.1089\/soro.2020.0011","volume":"8","author":"S Aracri","year":"2021","unstructured":"Aracri, S., Giorgio-Serchi, F., Suaria, G., Sayed, M.E., Nemitz, M.P., Mahon, S., Stokes, A.A.: Soft robots for ocean exploration and offshore operations: A perspective. Soft Robot. 8(6), 625\u2013639 (2021)","journal-title":"Soft Robot."},{"issue":"630","key":"1811_CR4","first-page":"245","volume":"7","author":"P Rao","year":"2021","unstructured":"Rao, P., Peyron, Q., Lilge, S., Burgner-Kahrs, J.: How to model tendon-driven continuum robots and benchmark modelling performance. Front. Robot. AI 7(630), 245 (2021)","journal-title":"Front. Robot. AI"},{"issue":"1","key":"1811_CR5","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1109\/LRA.2018.2881987","volume":"4","author":"T Greigarn","year":"2018","unstructured":"Greigarn, T., Poirot, N.L., Xu, X., \u00c7avu\u015fo\u011flu, M.C.: Jacobian-based task-space motion planning for MRI-actuated continuum robots. IEEE Robot. Autom. Lett. 4(1), 145\u2013152 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1811_CR6","doi-asserted-by":"crossref","unstructured":"Hawks, Z., Frazelle, C., Green, K.E., Walker, I.D.: Motion planning for a continuum robotic mobile lamp: Defining and navigating the configuration space. In: IEEE International Conference on Intelligent Robots and Systems (IROS), pp 2559\u20132566 (2019)","DOI":"10.1109\/IROS40897.2019.8967841"},{"issue":"2","key":"1811_CR7","doi-asserted-by":"publisher","first-page":"4813","DOI":"10.1109\/LRA.2022.3152318","volume":"7","author":"J Lai","year":"2022","unstructured":"Lai, J., Lu, B., Zhao, Q., Chu, H.K.: Constrained motion planning of a cable-driven soft robot with compressible curvature modeling. IEEE Robot. Autom. Lett. 7(2), 4813\u20134820 (2022)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1811_CR8","doi-asserted-by":"publisher","first-page":"297","DOI":"10.1146\/annurev-control-100819-063206","volume":"3","author":"H Ravichandar","year":"2020","unstructured":"Ravichandar, H., Polydoros, A.S., Chernova, S., Billard, A.: Recent advances in robot learning from demonstration. Ann. Rev. Control Rob. Autonom. Syst. 3, 297\u2013330 (2020)","journal-title":"Ann. Rev. Control Rob. Autonom. Syst."},{"issue":"2","key":"1811_CR9","doi-asserted-by":"publisher","first-page":"17","DOI":"10.3390\/robotics7020017","volume":"7","author":"Z Zhu","year":"2018","unstructured":"Zhu, Z., Hu, H.: Robot learning from demonstration in robotic assembly: A survey. Robotics 7(2), 17 (2018)","journal-title":"Robotics"},{"issue":"3","key":"1811_CR10","doi-asserted-by":"publisher","first-page":"1375","DOI":"10.1109\/LRA.2017.2669369","volume":"2","author":"C Lauretti","year":"2017","unstructured":"Lauretti, C., Cordella, F., Guglielmelli, E., Zollo, L.: Learning by demonstration for planning activities of daily living in rehabilitation and assistive robotics. IEEE Robot. Autom. Lett. 2(3), 1375\u20131382 (2017)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"1811_CR11","doi-asserted-by":"publisher","first-page":"391","DOI":"10.1109\/LRA.2016.2521384","volume":"1","author":"H Wang","year":"2016","unstructured":"Wang, H., Chen, J., Lau, H.Y., Ren, H.: Motion planning based on learning from demonstration for multiple-segment flexible soft robots actuated by electroactive polymers. IEEE Robot. Autom. Lett. 1 (1), 391\u2013398 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1811_CR12","doi-asserted-by":"crossref","unstructured":"Gupta, A., Eppner, C., Levine, S., Abbeel, P.: Learning dexterous manipulation for a soft robotic hand from human demonstrations. In: IEEE International Conference on Intelligent Robots and Systems (IROS), pp 3786\u20133793 (2016)","DOI":"10.1109\/IROS.2016.7759557"},{"issue":"9","key":"1811_CR13","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1080\/01691864.2019.1587313","volume":"33","author":"MS Malekzadeh","year":"2019","unstructured":"Malekzadeh, M.S., Quei\u00dfer, J.F., Steil, J.J.: Multi-level control architecture for bionic handling assistant robot augmented by learning from demonstration for apple-picking. Adv. Robot. 33(9), 469\u2013485 (2019)","journal-title":"Adv. Robot."},{"key":"1811_CR14","unstructured":"Kenwright, B.: A beginners guide to dual-quaternions: What they are, how they work, and how to use them for 3D character hierarchies. In: 20th International Conference on Computer Graphics Visualization and Computer Vision (2012)"},{"key":"1811_CR15","doi-asserted-by":"publisher","first-page":"166,690","DOI":"10.1109\/ACCESS.2019.2953122","volume":"7","author":"IA Seleem","year":"2019","unstructured":"Seleem, I.A., Assal, S.F., Ishii, H., El-Hussieny, H.: Guided pose planning and tracking for multi-section continuum robots considering robot dynamics. IEEE Access 7, 166,690\u2013166,703 (2019)","journal-title":"IEEE Access"},{"key":"1811_CR16","doi-asserted-by":"publisher","first-page":"99,366","DOI":"10.1109\/ACCESS.2020.2997636","volume":"8","author":"IA Seleem","year":"2020","unstructured":"Seleem, I.A., El-Hussieny, H., Assal, S.F., Ishii, H.: Development and stability analysis of an imitation learning-based pose planning approach for multi-section continuum robot. IEEE Access 8, 99,366\u201399,379 (2020)","journal-title":"IEEE Access"},{"issue":"5","key":"1811_CR17","doi-asserted-by":"publisher","first-page":"1729881418801,7","DOI":"10.1177\/1729881418801738","volume":"15","author":"C Chen","year":"2018","unstructured":"Chen, C., Zhang, C., Hu, T., Ni, H., Luo, W.: Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems. Int. J. Adv. Robot. Syst. 15(5), 1729881418801,738 (2018)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"1811_CR18","doi-asserted-by":"crossref","unstructured":"Seleem, I.A., El-Hussieny, H., Assal, S.F.M.: Motion planning for continuum robots: A learning from demonstration approach. In: 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp 868\u2013873 (2018)","DOI":"10.1109\/ROMAN.2018.8525601"},{"issue":"2","key":"1811_CR19","doi-asserted-by":"publisher","first-page":"777","DOI":"10.1109\/TMECH.2020.2999847","volume":"26","author":"C Wang","year":"2020","unstructured":"Wang, C., Frazelle, C.G., Wagner, J.R., Walker, I.D.: Dynamic control of multisection three-dimensional continuum manipulators based on virtual discrete-jointed robot models. IEEE\/ASME Trans. Mechatronics 26(2), 777\u2013788 (2020)","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"issue":"1","key":"1811_CR20","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1007\/s11071-021-06817-1","volume":"106","author":"E Franco","year":"2021","unstructured":"Franco, E., Ayatullah, T., Sugiharto, A., Garriga-Casanovas, A., Virdyawan, V.: Nonlinear energy-based control of soft continuum pneumatic manipulators. Nonlinear Dyn. 106(1), 229\u2013253 (2021)","journal-title":"Nonlinear Dyn."},{"key":"1811_CR21","doi-asserted-by":"crossref","unstructured":"Shin, C., Ferguson, P.W., Pedram, S.A., Ma, J., Dutson, E.P., Rosen, J.: Autonomous tissue manipulation via surgical robot using learning based model predictive control. In: 2019 International Conference on Robotics and Automation (ICRA), pp 3875\u20133881 (2019)","DOI":"10.1109\/ICRA.2019.8794159"},{"key":"1811_CR22","doi-asserted-by":"crossref","unstructured":"Chien, J.L., Clarissa, L.T.L., Liu, J., Low, J., Foong, S.: Kinematic model predictive control for a novel tethered aerial cable-driven continuum robot. In: 2021 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp 1348\u20131354 (2021)","DOI":"10.1109\/AIM46487.2021.9517606"},{"issue":"5","key":"1811_CR23","doi-asserted-by":"publisher","first-page":"1595","DOI":"10.1109\/TRO.2020.2991651","volume":"36","author":"M Khadem","year":"2020","unstructured":"Khadem, M., O\u2019Neill, J., Mitros, Z., Da Cruz, L., Bergeles, C.: Autonomous steering of concentric tube robots via nonlinear model predictive control. IEEE Trans. Robot. 36(5), 1595\u20131602 (2020)","journal-title":"IEEE Trans. Robot."},{"issue":"102","key":"1811_CR24","first-page":"871","volume":"86","author":"J Chen","year":"2022","unstructured":"Chen, J., Dang, Y., Han, J.: Offset-free model predictive control of a soft manipulator using the Koopman operator. Mechatronics 86(102), 871 (2022)","journal-title":"Mechatronics"},{"issue":"4","key":"1811_CR25","doi-asserted-by":"publisher","first-page":"6852","DOI":"10.1109\/LRA.2021.3095268","volume":"6","author":"D Bruder","year":"2021","unstructured":"Bruder, D., Fu, X., Gillespie, R.B., Remy, C.D., Vasudevan, R.: Koopman-based control of a soft continuum manipulator under variable loading conditions. IEEE Rob. Autom. Lett. 6(4), 6852\u20136859 (2021)","journal-title":"IEEE Rob. Autom. Lett."},{"key":"1811_CR26","doi-asserted-by":"crossref","unstructured":"Sun, Y., Abudula, A., Yang, H., Chiang, S.S., Wan, Z., Ozel, S., Hall, R., Skorina, E., Luo, M., Onal, C.D.: Soft mobile robots: a review of soft robotic locomotion modes. Curr. Robot. Rep., 1\u201327 (2021)","DOI":"10.1007\/s43154-021-00070-5"},{"issue":"3","key":"1811_CR27","doi-asserted-by":"publisher","first-page":"355","DOI":"10.1007\/s43154-021-00054-5","volume":"2","author":"S Zaidi","year":"2021","unstructured":"Zaidi, S., Maselli, M., Laschi, C., Cianchetti, M.: Actuation technologies for soft robot grippers and manipulators: A review. Curr. Robot. Rep. 2(3), 355\u2013369 (2021)","journal-title":"Curr. Robot. Rep."},{"key":"1811_CR28","doi-asserted-by":"crossref","unstructured":"Chawla, A., Frazelle, C., Walker, I.: A comparison of constant curvature forward kinematics for multisection continuum manipulators. In: 2018 Second IEEE International Conference on Robotic Computing (IRC), pp 217\u2013223 (2018)","DOI":"10.1109\/IRC.2018.00046"},{"issue":"8","key":"1811_CR29","doi-asserted-by":"publisher","first-page":"2862","DOI":"10.3390\/s22082862","volume":"22","author":"A Baumkircher","year":"2022","unstructured":"Baumkircher, A., Seme, K., Munih, M., Mihelj, M.: Collaborative robot precision task in medical microbiology laboratory. Sensors 22(8), 2862 (2022)","journal-title":"Sensors"},{"key":"1811_CR30","doi-asserted-by":"crossref","unstructured":"Ude, A., Nemec, B., Petri\u0107, T., Morimoto, J.: Orientation in cartesian space dynamic movement primitives. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp 2997\u20133004 (2014)","DOI":"10.1109\/ICRA.2014.6907291"},{"issue":"4","key":"1811_CR31","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-021-01344-y","volume":"101","author":"M Ginesi","year":"2021","unstructured":"Ginesi, M., Meli, D., Roberti, A., Sansonetto, N., Fiorini, P.: Dynamic movement primitives: Volumetric obstacle avoidance using dynamic potential functions. J. Intell. Robot. Syst. 101(4), 1\u201320 (2021)","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"1811_CR32","doi-asserted-by":"publisher","first-page":"339","DOI":"10.5937\/fme2201350A","volume":"50","author":"A Amouri","year":"2022","unstructured":"Amouri, A., Cherfia, A., Merabti, H., Laib, D.L.Y.: Nonlinear model predictive control of a class of continuum robots using kinematic and dynamic models. FME Trans. 50(2), 339\u2013350 (2022)","journal-title":"FME Trans."},{"issue":"1","key":"1811_CR33","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s12532-018-0139-4","volume":"11","author":"JA Andersson","year":"2019","unstructured":"Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: CasADI: a software framework for nonlinear optimization and optimal control. Math. Program. Comput. 11(1), 1\u201336 (2019)","journal-title":"Math. Program. Comput."},{"issue":"1","key":"1811_CR34","doi-asserted-by":"publisher","first-page":"627","DOI":"10.1109\/TPWRS.2018.2865559","volume":"34","author":"M Liu","year":"2018","unstructured":"Liu, M., Dassios, I., Tzounas, G., Milano, F.: Stability analysis of power systems with inclusion of realistic-modeling WAMS delays. IEEE Trans. Power Syst. 34(1), 627\u2013636 (2018)","journal-title":"IEEE Trans. Power Syst."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01811-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01811-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01811-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T05:08:56Z","timestamp":1685336936000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01811-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5]]},"references-count":34,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,5]]}},"alternative-id":["1811"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01811-8","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2023,5]]},"assertion":[{"value":"12 September 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 January 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 May 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Ethics approval"}},{"value":"Approved","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Consent to participate"}},{"value":"Approved","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Consent for Publication"}},{"value":"The authors declare that they have no conflicts of interest.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of Interests"}}],"article-number":"9"}}