[1] 黄云天, 陈卫东, 孙逸翔.基于碰撞检测的护理型操作臂的安全性设计与实现.机器人, 2011, 33(1):40-45 http://d.old.wanfangdata.com.cn/Periodical/jqr201101007

Huang Yun-Tian, Chen Wei-Dong, Sun Yi-Xiang.Safety design and realization of an assistive robotic manipulator based on collision detection.Robot, 2011, 33(1):40-45 http://d.old.wanfangdata.com.cn/Periodical/jqr201101007
[2] Li Z J, Chen W D.Adaptive neural-fuzzy control of uncertain constrained multiple coordinated nonholonomic mobile manipulators.Engineering Applications of Artificial Intelligence, 2008, 21(7):985-1000 doi: 10.1016/j.engappai.2007.08.007
[3] Rusu R B, Holzbach A, Diankov R, Bradski G, Beetz M. Perception for mobile manipulation and grasping using active stereo. In: Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots. Paris, France: IEEE, 2009. 632-638
[4] Cianchetti M, Follador M, Mazzolai B, Dario P, Laschi C. Design and development of a soft robotic octopus arm exploiting embodied intelligence. In: Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA). Saint Paul, Minnesota, USA: IEEE, 2012. 5271-5276
[5] Guglielmino E, Zullo L, Cianchetti M, Follador M, Branson D, Caldwell D G. The application of embodiment theory to the design and control of an octopus-like robotic arm. In: Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA). Saint Paul, Minnesota, USA: IEEE, 2012. 5277-5282
[6] Mahl T, Hildebrandt A, Sawodny O.A variable curvature continuum kinematics for kinematic control of the bionic handling assistant.IEEE Transactions on Robotics, 2014, 30(4):935-949 doi: 10.1109/TRO.2014.2314777
[7] Calisti M, Arienti A, Renda F, Levy G, Hochner B, Mazzolai B, Dario P, Laschi C. Design and development of a soft robot with crawling and grasping capabilities. In: Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA). Saint Paul, Minnesota, USA: IEEE, 2012. 4950-4955
[8] Escande C, Chettibi T, Merzouki R, Coelen V, Pathak P M.Kinematic calibration of a multisection bionic manipulator.IEEE/ASME Transactions on Mechatronics, 2015, 20(2):663-674 doi: 10.1109/TMECH.2014.2313741
[9] Jones B A, Walker I D.Kinematics for multisection continuum robots.IEEE Transactions on Robotics, 2006, 22(1):43-55 doi: 10.1109/TRO.2005.861458
[10] Escande C, Pathak P M, Merzouki R, Coelen V. Modelling of multisection bionic manipulator: application to robotinoXT. In: Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). Karon Beach, Phuket, Thailand: IEEE, 2011. 92-97
[11] Bergeles C, Gosline A H, Vasilyev N V, Codd P J, Nido P J, Dupont P E.Concentric tube robot design and optimization based on task and anatomical constraints.IEEE Transactions on Robotics, 2015, 31(1):67-84 doi: 10.1109/TRO.2014.2378431
[12] Dupont P E, Lock J, Itkowitz B. Real-time position control of concentric tube robots. In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA: IEEE, 2010. 562-568
[13] Gilbert H B, Neimat J, Webster R J.Concentric tube robots as steerable needles:achieving follow-the-leader deployment.IEEE Transactions on Robotics, 2015, 31(2):246-258 doi: 10.1109/TRO.2015.2394331
[14] Rucker D C, Jones B A, Webster R J. A model for concentric tube continuum robots under applied wrenches. In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, USA: IEEE, 2010. 1047-1052
[15] 郭宪, 马书根, 李斌, 王明辉, 王越超.基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究.自动化学报, 2015, 41(11):1847-1856 http://www.aas.net.cn/CN/abstract/abstract18760.shtml

Guo Xian, Ma Shu-Gen, Li Bin, Wang Ming-Hui, Wang Yue-Chao.Velocity tracking control of a snake-like robot with a dynamics and control unified model.Acta Automatica Sinica, 2015, 41(11):1847-1856 http://www.aas.net.cn/CN/abstract/abstract18760.shtml
[16] 杨贵志, 马书根, 李斌, 王明辉.面向蛇形机器人的三维步态控制的层次化联结中枢模式生成器模型.自动化学报, 2013, 39(10):1611-1622 http://www.aas.net.cn/CN/abstract/abstract18198.shtml

Yang Gui-Zhi, Ma Shu-Gen, Li Bin, Wang Ming-Hui.A hierarchical connectionist central pattern generator model for controlling three-dimensional gaits of snake-like robots.Acta Automatica Sinica, 2013, 39(10):1611-1622 http://www.aas.net.cn/CN/abstract/abstract18198.shtml
[17] 王智锋, 马书根, 李斌, 王越超.基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究.自动化学报, 2011, 37(5):604-614 http://www.aas.net.cn/CN/abstract/abstract17396.shtml

Wang Zhi-Feng, Ma Shu-Gen, Li Bin, Wang Yue-Chao.Simulation and experimental study of an energy-based control method for the serpentine locomotion of a snake-like robot.Acta Automatica Sinica, 2011, 37(5):604-614 http://www.aas.net.cn/CN/abstract/abstract17396.shtml
[18] Yip M C, Camarillo D B.Model-less feedback control of continuum manipulators in constrained environment.IEEE Transactions on Robotics, 2014, 30(4):880-889 doi: 10.1109/TRO.2014.2309194
[19] Wang H S, Chen W D, Yu X J, Deng T, Wang X Z, Pfeifer R. Visual servo control of cable-driven soft robotic manipulator. In: Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Tokyo, Japan: IEEE, 2013. 57-62
[20] 陈炜, 余跃庆, 张绪平, 苏丽颖.欠驱动柔性机器人的振动可控性分析.自动化学报, 2007, 33(4):391-398 http://www.aas.net.cn/CN/abstract/abstract13859.shtml

Chen Wei, Yu Yue-Qing, Zhang Xu-Ping, Su Li-Ying.Vibration controllability of underactuated flexible manipulator.Acta Automatica Sinica, 2007, 33(4):391-398 http://www.aas.net.cn/CN/abstract/abstract13859.shtml
[21] 彭济根, 倪远华, 乔红.柔性关节机操手的神经网络控制.自动化学报, 2007, 33(2):175-180 http://www.aas.net.cn/CN/abstract/abstract13826.shtml

Peng Ji-Gen, Ni Yuan-Hua, Qiao Hong.Neural network control of flexible-joint robot manipulators.Acta Automatica Sinica, 2007, 33(2):175-180 http://www.aas.net.cn/CN/abstract/abstract13826.shtml
[22] Santolaria J, Aguilar J J, Yagüe J A, Pastor J.Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines.Precision Engineering, 2008, 32(4):251-268 doi: 10.1016/j.precisioneng.2007.09.002
[23] Park I W, Lee B J, Cho S H, Hong Y D, Kim J H.Laser-based kinematic calibration of robot manipulator using differential kinematics.IEEE/ASME Transactions on Mechatronics, 2012, 17(6):1059-1067 doi: 10.1109/TMECH.2011.2158234
[24] Angelidis A, Vosniakos G C.Prediction and compensation of relative position error along industrial robot end-effector paths.International Journal of Precision Engineering and Manufacturing, 2014, 15(1):63-73 doi: 10.1007/s12541-013-0306-5
[25] Majarena A C, Santolaria J, Samper D, Aguilar J J.An overview of kinematic and calibration models using internal/external sensors or constraints to improve the behavior of spatial parallel mechanisms.Sensors, 2010, 10(11):10256-10297 doi: 10.3390/s101110256
[26] 郝洁. 家庭服务机器人可变形操作臂的运动学研究[硕士学位论文], 南开大学, 中国, 2015.

Hao J. Research on Kinematics of Deformable Manipulator for Home Service Robots[Master thesis], Nankai University, China, 2015.
[27] Lu X, Liu J T, Hao J, Zhang S, Sun L. Self-calibration of deformable arm with a monocular camera. In: Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO). Bali, Indonesia, 2014. 861-866
[28] 卢翔. 单目目标识别及位姿测量算法研究与应用[博士学位论文], 南开大学, 中国, 2015.

Lu Xiang. Research and Application on Object Recognition and Pose Measurement Based on Monocular Camera[Ph. D. dissertation], Nankai University, China, 2015.
[29] Li G, Sun L, Lu X, Hao J, Liu J T. A practical, fast, and low-cost kinematic calibration scheme for a deformable manipulator by using leap motion. In: Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO). Qingdao, China, 2016. 719-724
[30] Nubiola A, Bonev I A.Absolute robot calibration with a single telescoping ballbar.Precision Engineering, 2014, 38(3):472-480 doi: 10.1016/j.precisioneng.2014.01.001
[31] Mittendorfer P, Cheng G. Open-loop self-calibration of articulated robots with artificial skins. In: Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA). Saint Paul, Minnesota, USA, 2012. 4539-4545
[32] Roth Z, Mooring B, Ravani B.An overview of robot calibration.IEEE Journal on Robotics and Automation, 1987, 3(5):377-385 doi: 10.1109/JRA.1987.1087124
[33] Lightcap C, Hamner S, Schmitz T, Banks S.Improved positioning accuracy of the PA10-6CE robot with geometric and flexibility calibration.IEEE Transactions on Robotics, 2008, 24(2):452-456 doi: 10.1109/TRO.2007.914003
[34] He R B, Zhao Y J, Yang S N, Yang S Z.Kinematic-parameter identification for serial-robot calibration based on POE formula.IEEE Transactions on Robotics, 2010, 26(3):411-423 doi: 10.1109/TRO.2010.2047529
[35] Chen G L, Wang H, Lin Z Q.Determination of the identifiable parameters in robot calibration based on the POE formula.IEEE Transactions on Robotics, 2014, 30(5):1066-1077 doi: 10.1109/TRO.2014.2319560
[36] Wang H X, Shen S H, Lu X.A screw axis identification method for serial robot calibration based on the POE model.Industrial Robot, 2012, 39(2):146-153 doi: 10.1108/01439911211201609
[37] Chen I M, Yang G L, Tan C T, Yeo S H.Local POE model for robot kinematic calibration.Mechanism and Machine Theory, 2001, 36(11-12):1215-1239 doi: 10.1016/S0094-114X(01)00048-9
[38] Okamura K, Park F C.Kinematic calibration using the product of exponentials formula.Robotica, 1996, 14(4):415-421 doi: 10.1017/S0263574700019810
[39] Gupta K.Kinematic analysis of manipulators using the zero reference position description.The International Journal of Robotics Research, 1986, 5(2):5-13 doi: 10.1177/027836498600500202
[40] Kazerounian K, Qian G Z.Kinematic calibration of robotic manipulator.Journal of Mechanisms, Transmissions, and Automation in Design, 1989, 111(4):482-487 doi: 10.1115/1.3259025
[41] Craig J J.Introduction to Robotics:Mechanics and Control.Upper Saddle River, NJ, USA:Pearson Education International, 2005.62-76
[42] Murray R M, Li Z, Sastry S S.A Mathematical Introduction to Robotic Manipulation.Boca Raton, FL, USA:CRC Press, 1994.52-54