{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T18:12:51Z","timestamp":1775758371260,"version":"3.50.1"},"reference-count":24,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2023,2,2]],"date-time":"2023-02-02T00:00:00Z","timestamp":1675296000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2023,4,13]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to present an iterative path-following method with joint limits to solve the problem of large computation cost, movement exceeding joint limits and poor path-following accuracy for the path planning of hyper-redundant snake-like manipulator.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>When a desired path is given, new configuration of the snake-like manipulator is obtained through a geometrical approach, then the joints are repositioned through iterations until all the rotation angles satisfy the imposed joint limits. Finally, a new arrangement is obtained through the analytic solution of the inverse kinematics of hyper-redundant manipulator. Finally, simulations and experiments are carried out to analyze the performance of the proposed path-following method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Simulation results show that the average computation time is 0.1\u2009ms per step for a hyper-redundant manipulator with 12 degrees of freedom, and the deviation in tip position can be kept below 0.02\u2009mm. Experiments show that all the rotation angles are within joint limits.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>Currently , the manipulator is working in open-loop, the elasticity of the driving cable will cause positioning error. In future, close-loop control based on real-time attitude detection will be used in in combination with the path-following method to achieve high-precision trajectory tracking.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Through a series of iterative processes, the proposed method can make the manipulator approach the desired path as much as possible within the joint constraints with high precision and less computation time.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-04-2022-0106","type":"journal-article","created":{"date-parts":[[2023,1,31]],"date-time":"2023-01-31T12:04:36Z","timestamp":1675166676000},"page":"505-519","source":"Crossref","is-referenced-by-count":9,"title":["An iterative path-following method for hyper-redundant snake-like manipulator with joint limits"],"prefix":"10.1108","volume":"50","author":[{"given":"Cheng","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haibo","family":"Xie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huayong","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2023,2,2]]},"reference":[{"issue":"5","key":"key2023041209563890800_ref001","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1016\/j.gmod.2011.05.003","article-title":"FABRIK: a fast, iterative solver for the inverse kinematics problem","volume":"73","year":"2011","journal-title":"Graphical Models"},{"issue":"3","key":"key2023041209563890800_ref002","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1108\/01439910210425531","article-title":"Snake arm robots","volume":"29","year":"2002","journal-title":"Industrial Robot: An International Journal"},{"issue":"2","key":"key2023041209563890800_ref003","first-page":"120","article-title":"Snaking around in a nuclear jungle","volume":"32","year":"2013","journal-title":"Industrial Robot: An International Journal"},{"key":"key2023041209563890800_ref004","first-page":"625","article-title":"An obstacle avoidance algorithm for hyper-redundant manipulators","year":"1990"},{"issue":"2","key":"key2023041209563890800_ref005","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1061\/(ASCE)0893-1321(1999)12:2(65)","article-title":"A follow-the-leader approach to serpentine robot motion planning","volume":"12","year":"1999","journal-title":"Journal of Aerospace Engineering"},{"key":"key2023041209563890800_ref006","article-title":"Bionic Handling assistant\u2013flexible and compliant movement. from bionic learning network","year":"2010"},{"issue":"2","key":"key2023041209563890800_ref007","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1002\/rob.10070","article-title":"Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots","volume":"20","year":"2003","journal-title":"Journal of Robotic Systems"},{"key":"key2023041209563890800_ref008","first-page":"14","article-title":"The 'elephant trunk' manipulator, design and implementation","year":"2002"},{"key":"key2023041209563890800_ref009","first-page":"5081","article-title":"Development of the snake-like rescue robot \u2018KOHGA\u2019","year":"2004"},{"issue":"1","key":"key2023041209563890800_ref010","first-page":"68","article-title":"Design and analysis of a tendon-driven snake-arm robot based on a spherical magnets","volume":"46","year":"2021","journal-title":"Transactions of the Canadian Society for Mechanical Engineering"},{"key":"key2023041209563890800_ref011","first-page":"2336","article-title":"Field trials and testing of the OctArm continuum manipulator","volume":"s 1-10","year":"2006","journal-title":"2006 Ieee International Conference on Robotics and Automation (Icra)"},{"key":"key2023041209563890800_ref012","first-page":"92","article-title":"Snake-arm robots access the inaccessible","volume":"1","year":"2008","journal-title":"Nuclear Technology International"},{"issue":"10","key":"key2023041209563890800_ref013","doi-asserted-by":"crossref","first-page":"1478","DOI":"10.1016\/j.robot.2014.05.013","article-title":"Real-time method for tip following navigation of continuum snake arm robots","volume":"62","year":"2014","journal-title":"Robotics and Autonomous Systems"},{"issue":"4","key":"key2023041209563890800_ref014","article-title":"A Snake-Inspired Layer-Driven continuum robot","volume":"9","year":"2021","journal-title":"Soft Robotics"},{"key":"key2023041209563890800_ref015","doi-asserted-by":"crossref","first-page":"756","DOI":"10.1016\/j.apm.2022.02.001","article-title":"Adaptive trajectory control of an under-actuated snake robot","volume":"106","year":"2022","journal-title":"Applied Mathematical Modelling"},{"key":"key2023041209563890800_ref016","first-page":"2849","article-title":"Continuum robots - 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