{"id":"https://openalex.org/W2626071037","doi":"https://doi.org/10.1109/aero.2017.7943940","title":"Robot tendrils: Long, thin continuum robots for inspection in space operations","display_name":"Robot tendrils: Long, thin continuum robots for inspection in space operations","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2626071037","doi":"https://doi.org/10.1109/aero.2017.7943940","mag":"2626071037"},"language":"en","primary_location":{"id":"doi:10.1109/aero.2017.7943940","doi":"https://doi.org/10.1109/aero.2017.7943940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aero.2017.7943940","pdf_url":null,"source":{"id":"https://openalex.org/S4210171417","display_name":"IEEE Aerospace Conference (AERO)","issn_l":"1095-323X","issn":["1095-323X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Aerospace Conference","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049899080","display_name":"Dixit Nahar","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dixit Nahar","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, Clemson University, Clemson, SC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, Clemson University, Clemson, SC","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043767262","display_name":"Paul Yanik","orcid":"https://orcid.org/0000-0002-1311-7131","observed_orcids":["https://orcid.org/0000-0002-1311-7131"]},"institutions":[{"id":"https://openalex.org/I103406327","display_name":"Western Carolina University","ror":"https://ror.org/010h78f45","country_code":"US","type":"education","lineage":["https://openalex.org/I103406327"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul M. Yanik","raw_affiliation_strings":["School of Engineering and Technology, Western Carolina University, Cullowhee, NC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Technology, Western Carolina University, Cullowhee, NC","institution_ids":["https://openalex.org/I103406327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011466895","display_name":"Ian D. Walker","orcid":"https://orcid.org/0000-0002-9465-2960","observed_orcids":["https://orcid.org/0000-0002-9465-2960"]},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian D. Walker","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, Clemson University, Clemson, SC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, Clemson University, Clemson, SC","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5132,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.9725967,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/continuum-robots","display_name":"continuum robots","score":0.9909999966621399},{"id":"https://openalex.org/keywords/space-robotics","display_name":"space robotics","score":0.5809999704360962},{"id":"https://openalex.org/keywords/remote-inspection","display_name":"remote inspection","score":0.9760000109672546},{"id":"https://openalex.org/keywords/sensor-placement","display_name":"sensor placement","score":0.7020000219345093},{"id":"https://openalex.org/keywords/sensor-node-mobility","display_name":"sensor mobility","score":0.5509999990463257},{"id":"https://openalex.org/keywords/sample-acquisition","display_name":"sample acquisition","score":0.6970000267028809},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"search and rescue","score":0.7229999899864197},{"id":"https://openalex.org/keywords/environmental-monitoring","display_name":"environmental monitoring","score":0.703000009059906},{"id":"https://openalex.org/keywords/nasa-applications","display_name":"NASA applications","score":0.5270000100135803}],"concepts":[{"id":"https://openalex.org/C176472771","wikidata":"https://www.wikidata.org/wiki/Q165859","display_name":"Tendril","level":2,"score":0.9877001047134399},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7898054718971252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6024965047836304},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44815266132354736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41758644580841064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40168115496635437},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3597104847431183},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3579161465167999},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3458620011806488},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3304416537284851},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.251738578081131},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1052541732788086},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aero.2017.7943940","doi":"https://doi.org/10.1109/aero.2017.7943940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aero.2017.7943940","pdf_url":null,"source":{"id":"https://openalex.org/S4210171417","display_name":"IEEE Aerospace Conference (AERO)","issn_l":"1095-323X","issn":["1095-323X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Aerospace Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4943999946117401,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309106","display_name":"Clemson University","ror":"https://ror.org/037s24f05"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W185367992","https://openalex.org/W759499507","https://openalex.org/W1508870809","https://openalex.org/W1550906836","https://openalex.org/W1589824090","https://openalex.org/W1590804794","https://openalex.org/W1891615552","https://openalex.org/W1977785674","https://openalex.org/W1979145955","https://openalex.org/W1989710690","https://openalex.org/W2007443511","https://openalex.org/W2014036400","https://openalex.org/W2019428733","https://openalex.org/W2035105943","https://openalex.org/W2049511808","https://openalex.org/W2050297040","https://openalex.org/W2051643078","https://openalex.org/W2057371225","https://openalex.org/W2063797945","https://openalex.org/W2077644602","https://openalex.org/W2086859852","https://openalex.org/W2090150807","https://openalex.org/W2095462685","https://openalex.org/W2095999605","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2115697211","https://openalex.org/W2124540383","https://openalex.org/W2135450920","https://openalex.org/W2137670317","https://openalex.org/W2143225719","https://openalex.org/W2149799438","https://openalex.org/W2152205882","https://openalex.org/W2156218502","https://openalex.org/W2156382189","https://openalex.org/W2160229137","https://openalex.org/W2170836916","https://openalex.org/W2184993170","https://openalex.org/W2241606133","https://openalex.org/W2259400055","https://openalex.org/W2477120746","https://openalex.org/W2769750683"],"related_works":["https://openalex.org/W2014036400","https://openalex.org/W2625793939","https://openalex.org/W7098452229","https://openalex.org/W3115424629","https://openalex.org/W1590804794","https://openalex.org/W2782563025","https://openalex.org/W1989710690","https://openalex.org/W3081514115","https://openalex.org/W3172798974","https://openalex.org/W4366697781"],"abstract_inverted_index":{"Traditional":[0],"robots":[1],"are":[2,27],"constructed":[3],"from":[4],"rigid":[5],"links":[6],"which":[7,34],"facilitate":[8],"both":[9],"stiffness":[10],"and":[11,21,32,38,65,82,91,94,100,131,141,150],"accuracy.":[12],"However,":[13],"these":[14],"systems":[15],"operate":[16],"best":[17],"in":[18,87,96,108,160],"open":[19],"spaces,":[20],"environments":[22],"traversable":[23],"by":[24],"this":[25,44],"technology":[26],"inherently":[28],"restricted":[29],"to":[30],"scales":[31],"geometries":[33],"match":[35],"the":[36,41,123,152],"size":[37],"shape":[39],"of":[40,89,146,156],"links.":[42],"In":[43],"paper,":[45],"we":[46,121],"introduce":[47],"a":[48,112,144],"novel":[49],"long,":[50],"thin,":[51],"continuously":[52],"bending":[53],"continuum":[54],"robot":[55,158],"tendril.":[56],"Aimed":[57],"toward":[58],"NASA":[59],"applications":[60,81],"such":[61,157],"as":[62,101],"remote":[63,132],"inspection":[64,133],"sensor":[66,106,129],"mobility":[67],"for":[68,105,127,154],"improved":[69],"sample":[70],"acquisition,":[71],"research":[72],"with":[73,138],"tendril":[74],"agents":[75],"could":[76,83],"also":[77],"have":[78],"potential":[79,153],"terrestrial":[80],"be":[84],"highly":[85],"useful":[86],"areas":[88],"defense":[90],"security,":[92],"search":[93],"rescue":[95],"hazardous":[97],"environmental":[98,109],"conditions,":[99],"an":[102,135],"innovative":[103],"option":[104],"placement":[107,130],"monitoring.":[110],"Using":[111],"prototype":[113],"developed":[114],"at":[115],"Clemson":[116],"University":[117],"through":[118],"NASA-funded":[119],"research,":[120],"demonstrate":[122],"tendril's":[124],"unique":[125],"capabilities":[126],"adaptive":[128],"within":[134],"environment":[136],"seeded":[137],"numerous":[139],"disparate":[140],"slowly":[142],"(over":[143],"matter":[145],"hours)":[147],"time-varying":[148],"sources,":[149],"discuss":[151],"use":[155],"tendrils":[159],"space":[161],"applications.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2017-06-23T00:00:00"}