{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,30]],"date-time":"2025-08-30T16:27:54Z","timestamp":1756571274612,"version":"3.41.0"},"reference-count":21,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,4,22]],"date-time":"2025-04-22T00:00:00Z","timestamp":1745280000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,4,22]],"date-time":"2025-04-22T00:00:00Z","timestamp":1745280000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,4,22]]},"DOI":"10.1109\/robosoft63089.2025.11020814","type":"proceedings-article","created":{"date-parts":[[2025,6,4]],"date-time":"2025-06-04T17:51:48Z","timestamp":1749059508000},"page":"1-8","source":"Crossref","is-referenced-by-count":1,"title":["Clarke Transform and Encoder-Decoder Architecture for Arbitrary Joints Locations in Displacement-Actuated Continuum Robots"],"prefix":"10.1109","author":[{"given":"Reinhard M.","family":"Grassmann","sequence":"first","affiliation":[{"name":"University of Toronto,Continuum Robotics Laboratory,Department of Mathematical and Computational Sciences,Mississauga,Canada,L5L 1C6"}]},{"given":"Jessica","family":"Burgner-Kahrs","sequence":"additional","affiliation":[{"name":"University of Toronto,Continuum Robotics Laboratory,Department of Mathematical and Computational Sciences,Mississauga,Canada,L5L 1C6"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2022.3141338"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmapro.2019.01.024"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200367"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2020.1812427"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/RoboSoft48309.2020.9116015"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3180047"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967269"},{"article-title":"Clarke Transform \u2013 A Fundamental Tool for Continuum Robotics","year":"2024","author":"Grassmann","key":"ref9"},{"article-title":"Clarke Transform and Clarke Coordinates \u2013 A New Kid on the Block for State Representation of Continuum Robots","volume-title":"40th Anniversary of the IEEE International Conference on Robotics and Automation","author":"Grassmann","key":"ref10"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.5604\/01.3001.0009.4333"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TE.1969.4320448"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IEMDC.2015.7409032"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610322"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2931133"},{"volume-title":"Trajectory planning for automatic machines and robots","year":"2008","author":"Biagiotti","key":"ref16"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2021.3138382"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_11"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1145\/3610419.3610491"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.873446"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-08140-8_25"}],"event":{"name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","start":{"date-parts":[[2025,4,22]]},"location":"Lausanne, Switzerland","end":{"date-parts":[[2025,4,26]]}},"container-title":["2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11020754\/11020808\/11020814.pdf?arnumber=11020814","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,5]],"date-time":"2025-06-05T04:25:44Z","timestamp":1749097544000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11020814\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4,22]]},"references-count":21,"URL":"https:\/\/doi.org\/10.1109\/robosoft63089.2025.11020814","relation":{},"subject":[],"published":{"date-parts":[[2025,4,22]]}}}