{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:31:30Z","timestamp":1777703490384,"version":"3.51.4"},"reference-count":15,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2015,11,4]],"date-time":"2015-11-04T00:00:00Z","timestamp":1446595200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"published-print":{"date-parts":[[2015,11,27]]},"abstract":"<jats:p>With a compliant structure and excellent bending properties, continuum robot has hyper-redundant degrees of freedom, and can be used in space-constrained environments as the aircraft fuel tank. Therefore, a continuum robot is designed to help crews inspect aircraft fuel tanks, which can improve maintenance efficiency and reduce the intensity of crews. According to the requirements of aircraft fuel tank inspection, the compliant and extensible drive mechanisms of the continuum robot are designed. The kinematic models of single joint segment and multi-joint segments of continuum robot are analyzed, and homogeneous transformation matrices are obtained. To improve control performance, a closed-loop fuzzy controller based on attitude feedback is proposed. The attitude sensor is installed on the top of each joint segment of a snake-like arm to form a closed-loop control system, and a fuzzy controller is designed to achieve fast and accurate control of the robot. The prototype platform of the continuum robot is built, and practical experiments are implemented on the platform. The effectiveness and stability of the fuzzy controller based on attitude feedback are verified.<\/jats:p>","DOI":"10.3233\/ifs-151952","type":"journal-article","created":{"date-parts":[[2015,12,9]],"date-time":"2015-12-09T14:27:54Z","timestamp":1449671274000},"page":"2495-2503","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot"],"prefix":"10.1177","volume":"29","author":[{"given":"Guochen","family":"Niu","sequence":"first","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing, China"},{"name":"Robotics Institute, Civil Aviation University of China, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Wang","sequence":"additional","affiliation":[{"name":"Robotics Institute, Civil Aviation University of China, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guanghua","family":"Zong","sequence":"additional","affiliation":[{"name":"Robotics Institute, Beihang University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,11,4]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2175761"},{"key":"e_1_3_2_3_2","first-page":"3381","article-title":"Integration and preliminary evaluation of an insertable robotic effectors platform for single port access surgery","author":"Bajo A","year":"2012","unstructured":"Bajo A, Goldman RE, Wang L, Fowler D, Simaan N2012Integration and preliminary evaluation of an insertable robotic effectors platform for single port access surgeryProceedings of IEEE International Conference on Robotics and Automation33813338","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"e_1_3_2_4_2","first-page":"5374","article-title":"Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robots","author":"Kim B","year":"2014","unstructured":"Kim B, Ha J, Park FC2014Optimizing curvature sensor placement for fast, accurate shape sensing of continuum robotsProceedings of IEEE International Conference on Robotics and Automation53745379","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2002311"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2022426"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.11591\/telkomnika.v11i7.2814"},{"key":"e_1_3_2_8_2","first-page":"3227","article-title":"Collision free path planning based on region clipping for aircraft fuel tank inspection robot","author":"Niu GC","year":"2014","unstructured":"Niu GC, Zheng ZC, Gao QJ2014Collision free path planning based on region clipping for aircraft fuel tank inspection robotProceedings of IEEE International Conference on Robotics and Automation32273233","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"e_1_3_2_9_2","first-page":"1957","article-title":"Design of a novel snake-like robotic colonoscope","author":"Hu HY","year":"2009","unstructured":"Hu HY, Wang PF, Zhao B, Li MT, Sun LN2009Design of a novel snake-like robotic colonoscopeIEEE International Conference on Robotics and Biomimetic19571961","journal-title":"IEEE International Conference on Robotics and Biomimetic"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2010.19.001"},{"key":"e_1_3_2_11_2","first-page":"1053","article-title":"Design simulation and evaluation of kinematic alternatives for insertable robotic effectors platforms in single port access surgery","author":"Ding J","year":"2010","unstructured":"Ding J, Xu K, Goldman RE, Allen PK, Fowler DL, Simaan N2010Design simulation and evaluation of kinematic alternatives for insertable robotic effectors platforms in single port access surgeryProceedings of IEEE International Conference on Robotics and Automation10531058","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2046924"},{"issue":"11","key":"e_1_3_2_13_2","first-page":"1486","article-title":"Path planning for continuum robot based on target guided angle","volume":"39","author":"Gao QJ","year":"2013","unstructured":"Gao QJ, Wang L, Niu GC2013Path planning for continuum robot based on target guided angleJournal of Beijing University of Aeronautics and Astronautics391114861490","journal-title":"Journal of Beijing University of Aeronautics and Astronautics"},{"key":"e_1_3_2_14_2","first-page":"3531","article-title":"FBG-based shape sensing tubes for continuum robots","author":"Ryu SC","year":"2014","unstructured":"Ryu SC, Dupont PE2014FBG-based shape sensing tubes for continuum robotsProceedings of IEEE International Conference on Robotics and Automation35313537","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2218115"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2278251"}],"container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/IFS-151952","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.3233\/IFS-151952","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/IFS-151952","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:38:48Z","timestamp":1777455528000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.3233\/IFS-151952"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,11,4]]},"references-count":15,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2015,11,27]]}},"alternative-id":["10.3233\/IFS-151952"],"URL":"https:\/\/doi.org\/10.3233\/ifs-151952","relation":{},"ISSN":["1064-1246","1875-8967"],"issn-type":[{"value":"1064-1246","type":"print"},{"value":"1875-8967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,11,4]]}}}