{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T16:27:28Z","timestamp":1775665648749,"version":"3.50.1"},"reference-count":78,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61903100"],"award-info":[{"award-number":["61903100"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62203140"],"award-info":[{"award-number":["62203140"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1813216"],"award-info":[{"award-number":["U1813216"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52005305"],"award-info":[{"award-number":["52005305"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Basic Research Program of Shenzhen","award":["JCYJ20190806142818365"],"award-info":[{"award-number":["JCYJ20190806142818365"]}]},{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Aerosp. Electron. Syst."],"published-print":{"date-parts":[[2022,12]]},"DOI":"10.1109\/taes.2022.3217746","type":"journal-article","created":{"date-parts":[[2022,11,4]],"date-time":"2022-11-04T00:57:07Z","timestamp":1667523427000},"page":"4928-4937","source":"Crossref","is-referenced-by-count":38,"title":["Hyper-Redundant Manipulators for Operations in Confined Space: Typical Applications, Key Technologies, and Grand Challenges"],"prefix":"10.1109","volume":"58","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9289-5902","authenticated-orcid":false,"given":"Zonggao","family":"Mu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China"}]},{"given":"Luyang","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1493-7147","authenticated-orcid":false,"given":"Lei","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1667-4432","authenticated-orcid":false,"given":"Zixuan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8372-4116","authenticated-orcid":false,"given":"Ruichun","family":"Dong","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shandong Provincial Key Laboratory of Precision Manufacturing and Nontraditional Machining, Shandong University of Technology, Zibo, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6294-5128","authenticated-orcid":false,"given":"Chengjiang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Science and Engineering, Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Hong Kong"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5618-6359","authenticated-orcid":false,"given":"Ning","family":"Ding","sequence":"additional","affiliation":[{"name":"School of Science and Engineering, Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Hong Kong"}]}],"member":"263","reference":[{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2018.05.012"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1115\/1.2114890"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2009-87457"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.24846\/v24i3y201508"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/CYBER50695.2020.9279171"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104062"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-020-05764-7"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/70.294209"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2020.105768"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.5897\/SRE10.662"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-020-1677-8"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2784828"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2021.3095152"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3013658"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0165"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1177\/1687814017721854"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025750"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620032"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.802721"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2016.02.037"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1002\/acs.2459"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.906248"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1016\/j.ces.2004.09.067"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2364625"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.00272"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1838"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2002311"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2252861"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-020-01249-2"},{"key":"ref67","first-page":"113","article-title":"A Model-based sliding mode controller for extensible continuum robots","author":"kapadia","year":"0","journal-title":"Proc 9th WSEAS Int Conf Signal Process Robot Automat"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910367543"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.11.005"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2020.3027108"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.3390\/app10196968"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.812829"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/4233.826855"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1115\/1.1447546"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307486"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2002311"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.1995.538095"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.886268"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620032"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/70.388789"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.3233\/IFS-151885"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509549"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.886268"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.5772\/63934"},{"key":"ref55","first-page":"517","author":"tsoukalas","year":"2015","journal-title":"Modelling and Control of Hyper-Redundant Micromanipulators For Obstacle Avoidance in an Unstructured Environment"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2331036"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(99)00062-2"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2002312"},{"key":"ref10","first-page":"183","article-title":"Skyworker: Robotics for space assembly, inspection and maintenance","volume":"95","author":"skaff","year":"2008","journal-title":"Bull De La Soci&#x00E9;t&#x00E9; Pr&#x00E9;historique Fran&#x00E7;aise"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/AERO.2005.1559375"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/70.988980"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2021.04.018"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104062"},{"key":"ref14","doi-asserted-by":"crossref","first-page":"1661","DOI":"10.1177\/0278364910368147","article-title":"Design and kinematic modeling of constant curvature continuum robots: A review","volume":"29","author":"iii","year":"2010","journal-title":"Int J Robot Res"},{"key":"ref15","first-page":"1","article-title":"Tensor arm manipulator design","volume":"67 de 57","author":"anderson","year":"1967","journal-title":"Transactions of the ASME Journal of Mechanical Engineering"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1108\/01439910210425531"},{"key":"ref17","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","author":"hannan","year":"2003","journal-title":"J Robot Syst"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001009"},{"key":"ref19","first-page":"708","article-title":"Robocrane and EMMA applied to waste storage tank remediation","author":"bostelman","year":"1997","journal-title":"Proc Amer Nucelar Soc 7th Topical Meeting Robot Remote Syst"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3067310"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2021.3094626"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"ref5","article-title":"Conformational modeling of continuum structures in robotics and structural biology: A review","volume":"29","author":"chirikjian","year":"2014","journal-title":"Adv Robot Int J Robot Soc Jpn"},{"key":"ref8","doi-asserted-by":"crossref","first-page":"583","DOI":"10.1017\/S0263574797000672","article-title":"Clarifying the definition of redundancy as used in robotics","volume":"15","author":"buckingham","year":"1997","journal-title":"Robotica"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1163\/156855395X00193","article-title":"Sensor-based motion planning in three dimensions for a highly redundant snake robot","volume":"9","author":"dan","year":"1994","journal-title":"Adv Robot"},{"key":"ref49","doi-asserted-by":"crossref","first-page":"281","DOI":"10.1163\/156855395X00201","article-title":"Development of a Hyper-redundant multijoint manipulator for maintenance of nuclear reactor","volume":"9","author":"ma","year":"1995","journal-title":"Adv Robot"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.933271"},{"key":"ref46","first-page":"109","article-title":"A new geometrical approach for the inverse kinematics of the hyper redundant equal length links planar manipulators","volume":"12","author":"samer","year":"2009","journal-title":"Transp Engrg"},{"key":"ref45","first-page":"1557","article-title":"A new inverse kinematics method for three dimensional redundant manipulators","author":"mohamed","year":"2009","journal-title":"Proc ICCAS-SCIE"},{"key":"ref48","doi-asserted-by":"crossref","first-page":"406","DOI":"10.1016\/j.simpat.2010.08.001","article-title":"Geometrical approach of planar Hyper-redundant manipulators. Inverse kinematics, path planning and workspace","volume":"19","author":"samer","year":"2011","journal-title":"Simul Model Pract Theory"},{"key":"ref47","first-page":"3757","article-title":"A geometrical motion planning approach for redundant planar manipulators","volume":"3","author":"samer","year":"2009","journal-title":"Australian J Basic Appl Sci"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351364"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10067"},{"key":"ref44","first-page":"83","article-title":"Dynamic control of Curve-constrained Hyper-redundant manipulators","author":"ma","year":"2001","journal-title":"Proc IEEE Int Symp Comput Intell Robot Automat"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620032"}],"container-title":["IEEE Transactions on Aerospace and Electronic Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7\/9970423\/09931936.pdf?arnumber=9931936","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,12,26]],"date-time":"2022-12-26T19:24:34Z","timestamp":1672082674000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9931936\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12]]},"references-count":78,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/taes.2022.3217746","relation":{},"ISSN":["0018-9251","1557-9603","2371-9877"],"issn-type":[{"value":"0018-9251","type":"print"},{"value":"1557-9603","type":"electronic"},{"value":"2371-9877","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12]]}}}