{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T06:55:09Z","timestamp":1790751309136,"version":"4.1.0"},"reference-count":35,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T00:00:00Z","timestamp":1790726400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"\n Introduction<\/jats:title>\n Cable-driven continuum robots enable dexterous motion in confined spaces, but inverse kinematics remains difficult because different internal shapes and cable states can produce the same end-effector position.<\/jats:p>\n <\/jats:sec>\n \n Methods<\/jats:title>\n This study presents a design-aware hybrid optimization framework, DA-IHHO-DELS, for inverse kinematics of a three-section continuum robot. A piecewise-constant-curvature forward model generates physically consistent section positions, cable-length estimates, and feasibility terms. The optimizer combines geometry-consistent seeding, opposition learning, improved Harris hawks search, differential-evolution exploitation, grey-wolf leader guidance, Cauchy\/Levy perturbations, and bounded local refinement. Its multi-objective score includes the arc-length consistency residual, orientation error, cable-length dispersion, inter-section smoothness, actuation effort, and constraint violation, and it is compared with GA, ABC, ACO, DE, HHO, TLBO, BOA, GWO, WOA, and POA.<\/jats:p>\n <\/jats:sec>\n \n Results<\/jats:title>\n \n In the regenerated obstacle-constrained simulation, DA-IHHO-DELS achieved a median\n \n \n \n \n \n F<\/mml:mi>\n <\/mml:mrow>\n \n 1<\/mml:mn>\n <\/mml:mrow>\n <\/mml:msub>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n residual of 0.00491 mm, a median reconstructed Cartesian error of 0.00255 mm, 100% success under the strict\n \n \n \n \n \n F<\/mml:mi>\n <\/mml:mrow>\n \n 1<\/mml:mn>\n <\/mml:mrow>\n <\/mml:msub>\n <<\/mml:mo>\n 0.01<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n criterion, the lowest median aggregate score, and a mean runtime of 0.56883 s. A secondary benchmark using measured CBHA\/Robotino XT actuator lengths further assessed transfer of the geometry-guided optimization consistency to real measured continuum-robot data.\n <\/jats:p>\n <\/jats:sec>\n \n Discussion<\/jats:title>\n The results show that design-aware hybrid optimization can combine analytical continuum-robot kinematics with robust search to obtain accurate, feasible, and smooth inverse-kinematic solutions. The real-data benchmark supports consistency transfer while remaining distinct from a direct hardware test of the same three-section cable-driven robot.<\/jats:p>\n <\/jats:sec>","DOI":"10.3389\/frobt.2026.1935721","type":"journal-article","created":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T06:00:04Z","timestamp":1790748004000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["A new hybrid optimization intelligence for cable-driven continuum robot motion: two-obstacle simulation and real-data assessment"],"prefix":"10.3389","volume":"13","author":[{"given":"Selman","family":"Djeffal","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, National Polytechnic School of Constantine","place":["Constantine, Algeria"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abdelhamid","family":"Ghoul","sequence":"additional","affiliation":[{"name":"Automatic Control, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology","place":["Lule\u00e5, Sweden"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohamed Razi","family":"Morakchi","sequence":"additional","affiliation":[{"name":"Department of Electromechanics, Faculty of Construction Engineering, Mouloud Mammeri University of Tizi Ouzou","place":["Tizi Ouzou, Algeria"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Badreddine","family":"Bendriss","sequence":"additional","affiliation":[{"name":"Department of Electrotechnics, Setif 1 Ferhat Abbas University","place":["S\u00e9tif, Algeria"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Merabet Eddine","family":"Salah","sequence":"additional","affiliation":[{"name":"Department of Electrotechnics, Mentouri Brothers, Constantine 1","place":["Constantine, Algeria"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Atef","family":"Chibani","sequence":"additional","affiliation":[{"name":"Research Center in Industrial Technologies (CRTI)","place":["Algiers, Algeria"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,9,30]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"715","DOI":"10.1007\/s00500-018-3102-4","article-title":"Butterfly optimization algorithm: a novel approach for global optimization","volume":"23","author":"Arora","year":"2019","journal-title":"Soft Comput."},{"key":"B2","doi-asserted-by":"publisher","first-page":"102019","DOI":"10.1016\/j.rcim.2020.102019","article-title":"Real-time kinematics of continuum robots: modelling and validation","volume":"67","author":"Barrientos-Diez","year":"2021","journal-title":"Robotics Computer-Integrated Manuf."},{"key":"B3","doi-asserted-by":"publisher","first-page":"105701","DOI":"10.1016\/j.mechmachtheory.2024.105701","article-title":"Kinematic models for cable-driven continuum robots with multiple segments and varying cable offsets","volume":"200","author":"Bhalkikar","year":"2024","journal-title":"Mech. 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