{"id":"https://openalex.org/W4402040703","doi":"https://doi.org/10.1109/isoirs63136.2024.00030","title":"Developing a Pseudo-Rigid-Body Dynamics Model for Pneumatic serpentine Robots","display_name":"Developing a Pseudo-Rigid-Body Dynamics Model for Pneumatic serpentine Robots","publication_year":2024,"publication_date":"2024-06-14","ids":{"openalex":"https://openalex.org/W4402040703","doi":"https://doi.org/10.1109/isoirs63136.2024.00030"},"language":"en","primary_location":{"id":"doi:10.1109/isoirs63136.2024.00030","doi":"https://doi.org/10.1109/isoirs63136.2024.00030","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/isoirs63136.2024.00030","pdf_url":null,"source":{"id":"https://openalex.org/S7407087500","display_name":"International Symposium on Intelligent Robotics and Systems (ISoIRS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Intelligent Robotics and Systems (ISoIRS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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/A5090486190","display_name":"Shuqian He","orcid":"https://orcid.org/0009-0006-9830-6535","observed_orcids":["https://orcid.org/0009-0006-9830-6535"]},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuqian He","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023118241","display_name":"Chaoyue Zhao","orcid":"https://orcid.org/0000-0003-0442-2991","observed_orcids":["https://orcid.org/0000-0003-0442-2991"]},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyue Zhao","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060576707","display_name":"Yuan He","orcid":"https://orcid.org/0000-0003-0779-2613","observed_orcids":["https://orcid.org/0000-0003-0779-2613","https://orcid.org/0000-0001-6019-8395"]},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan He","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111308009","display_name":"Chenghao Lin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenghao Lin","raw_affiliation_strings":["Beijing University of Chemical Technology,School of International Education,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,School of International Education,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103096540","display_name":"Longchuan Li","orcid":"https://orcid.org/0000-0001-8242-8243","observed_orcids":["https://orcid.org/0000-0001-8242-8243"]},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longchuan Li","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041185116","display_name":"Shuai Kang","orcid":"https://orcid.org/0000-0002-4346-0889","observed_orcids":["https://orcid.org/0000-0002-4346-0889"]},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Kang","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Mechanical and Electrical Engineering,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Mechanical and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058331778","display_name":"Qiukai Qi","orcid":"https://orcid.org/0000-0001-8720-6391","observed_orcids":["https://orcid.org/0000-0001-8720-6391"]},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Qiukai Qi","raw_affiliation_strings":["University of Bristol,School of Engineering Mathematics and Technology,Bristol,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol,School of Engineering Mathematics and Technology,Bristol,UK","institution_ids":["https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17054807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"118","last_page":"122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"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":0.9961000084877014,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.003100000089034438,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/soft-robots","display_name":"soft robots","score":0.6959999799728394},{"id":"https://openalex.org/keywords/pneumatic-actuators","display_name":"pneumatic actuators","score":0.9419999718666077},{"id":"https://openalex.org/keywords/undulatory-locomotion","display_name":"undulatory locomotion","score":0.8709999918937683},{"id":"https://openalex.org/keywords/computational-cost-reduction","display_name":"computational complexity reduction","score":0.9160000085830688}],"concepts":[{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.687700629234314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6645445823669434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5579610466957092},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.4414197504520416},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3861929178237915},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.3835211396217346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2530459463596344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18820682168006897},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18789708614349365},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14460289478302002},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08333581686019897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isoirs63136.2024.00030","doi":"https://doi.org/10.1109/isoirs63136.2024.00030","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/isoirs63136.2024.00030","pdf_url":null,"source":{"id":"https://openalex.org/S7407087500","display_name":"International Symposium on Intelligent Robotics and Systems (ISoIRS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Symposium on Intelligent Robotics and Systems (ISoIRS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1704704075","https://openalex.org/W2101667962","https://openalex.org/W2139058237","https://openalex.org/W2149694982","https://openalex.org/W2610992585","https://openalex.org/W2785361559","https://openalex.org/W2911624429","https://openalex.org/W3003265697","https://openalex.org/W3022219091","https://openalex.org/W3122982407","https://openalex.org/W3134132603","https://openalex.org/W4200050035","https://openalex.org/W4220837889","https://openalex.org/W4296781173","https://openalex.org/W4312973552","https://openalex.org/W4319460659","https://openalex.org/W4387369651","https://openalex.org/W4393204585"],"related_works":["https://openalex.org/W7117484940","https://openalex.org/W2149694982","https://openalex.org/W4393380710","https://openalex.org/W7100622803","https://openalex.org/W2044171547","https://openalex.org/W4365129609","https://openalex.org/W2967712020","https://openalex.org/W4388764286","https://openalex.org/W4412446785","https://openalex.org/W7134140796"],"abstract_inverted_index":{"This":[0],"study":[1],"develops":[2],"a":[3,20,35,40,120],"strategy":[4],"for":[5],"modeling":[6,21,129,133],"the":[7,25,54,67,71,75,85,92,113],"motion":[8,28,72],"of":[9,39,69,94,104],"pneumatic":[10,47,64,95,107],"serpentine":[11,42,80],"robots,":[12],"aimed":[13],"at":[14],"reducing":[15],"computational":[16,137],"costs":[17],"and":[18,77],"providing":[19],"method":[22],"consistent":[23],"with":[24,66],"actual":[26],"robot's":[27],"response.":[29],"Through":[30],"mathematical":[31],"modeling,":[32],"we":[33,52,83],"conceived":[34],"pseudo-rigid-body":[36],"dynamics":[37],"model":[38,89,102],"soft":[41,79,127],"robot":[43,115],"connected":[44],"by":[45,90],"three":[46],"actuators.":[48],"In":[49],"this":[50,111],"design,":[51],"connect":[53],"links":[55],"via":[56],"twist":[57],"springs":[58],"acting":[59],"as":[60],"one":[61],"bidirectionally":[62],"bendable":[63],"actuator,":[65],"goal":[68],"approximating":[70],"response":[73],"between":[74],"simulated":[76,114],"real":[78,106],"robots.":[81],"Furthermore,":[82],"refined":[84],"traditional":[86],"linear":[87],"spring":[88],"incorporating":[91],"characteristics":[93],"actuator":[96],"pressure-driven":[97],"signals,":[98],"deriving":[99],"an":[100],"actuation":[101],"capable":[103],"mimicking":[105],"drive":[108],"forms.":[109],"Under":[110],"model,":[112],"was":[116],"able":[117],"to":[118,125],"achieve":[119],"typical":[121],"undulation":[122],"locomotion.":[123],"Compared":[124],"existing":[126],"body":[128],"methods,":[130],"our":[131],"proposed":[132],"approach":[134],"significantly":[135],"reduces":[136],"costs.":[138]},"counts_by_year":[],"updated_date":"2026-10-05T09:50:58.205359","created_date":"2024-08-31T00:00:00"}