{"id":"https://openalex.org/W4412176302","doi":"https://doi.org/10.1002/aisy.202500141","title":"Harnessing Discrete Differential Geometry: A Virtual Playground for the Bilayer Soft Robots","display_name":"Harnessing Discrete Differential Geometry: A Virtual Playground for the Bilayer Soft Robots","publication_year":2025,"publication_date":"2025-07-10","ids":{"openalex":"https://openalex.org/W4412176302","doi":"https://doi.org/10.1002/aisy.202500141"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202500141","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202500141","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500141","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500141","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100328389","display_name":"Jiahao Li","orcid":"https://orcid.org/0000-0003-1168-8229"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Li","raw_affiliation_strings":["CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China  Hefei 230027 P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China  Hefei 230027 P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036781292","display_name":"Dezhong Tong","orcid":"https://orcid.org/0000-0002-3829-234X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dezhong Tong","raw_affiliation_strings":["Department of Material Science and Engineering University of Michigan  Ann Arbor Michigan 48105 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Material Science and Engineering University of Michigan  Ann Arbor Michigan 48105 USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042294503","display_name":"Zhuonan Hao","orcid":"https://orcid.org/0000-0001-5256-8528"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuonan Hao","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering University of California, Los Angeles  California 90095 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering University of California, Los Angeles  California 90095 USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027929598","display_name":"YinBo Zhu","orcid":"https://orcid.org/0000-0001-9204-9300"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinbo Zhu","raw_affiliation_strings":["CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China  Hefei 230027 P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China  Hefei 230027 P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056611324","display_name":"HengAn Wu","orcid":"https://orcid.org/0000-0003-0288-1617"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hengan Wu","raw_affiliation_strings":["CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China  Hefei 230027 P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China  Hefei 230027 P. R. China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080857354","display_name":"Mingchao Liu","orcid":"https://orcid.org/0000-0001-7424-4794"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Mingchao Liu","raw_affiliation_strings":["Department of Mechanical Engineering University of Birmingham  Birmingham B15 2TT UK"],"raw_orcid":"https://orcid.org/0000-0001-7424-4794","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of Birmingham  Birmingham B15 2TT UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059592572","display_name":"Weicheng Huang","orcid":"https://orcid.org/0000-0003-3466-5169"},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Weicheng Huang","raw_affiliation_strings":["School of Engineering Newcastle University  Newcastle upon Tyne NE1 7RU UK"],"raw_orcid":"https://orcid.org/0000-0003-3466-5169","affiliations":[{"raw_affiliation_string":"School of Engineering Newcastle University  Newcastle upon Tyne NE1 7RU UK","institution_ids":["https://openalex.org/I84884186"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5059592572","https://openalex.org/A5080857354"],"corresponding_institution_ids":["https://openalex.org/I79619799","https://openalex.org/I84884186"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":2.4212,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.88512307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"7","issue":"9","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":1.0,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.7328314781188965},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6656434535980225},{"id":"https://openalex.org/keywords/bilayer","display_name":"Bilayer","score":0.5814639329910278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5564186573028564},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5020649433135986},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.4510681629180908},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4411187767982483},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.43664175271987915},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.413827121257782},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4111863672733307},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3591518998146057},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.32444334030151367},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2707829475402832},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2650908827781677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26277661323547363},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.256397008895874},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1648206114768982},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13788488507270813},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.1319250762462616},{"id":"https://openalex.org/keywords/membrane","display_name":"Membrane","score":0.0957845151424408}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7328314781188965},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6656434535980225},{"id":"https://openalex.org/C192157962","wikidata":"https://www.wikidata.org/wiki/Q4087243","display_name":"Bilayer","level":3,"score":0.5814639329910278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5564186573028564},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5020649433135986},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.4510681629180908},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4411187767982483},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.43664175271987915},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.413827121257782},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4111863672733307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3591518998146057},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.32444334030151367},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2707829475402832},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2650908827781677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26277661323547363},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.256397008895874},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1648206114768982},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13788488507270813},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.1319250762462616},{"id":"https://openalex.org/C41625074","wikidata":"https://www.wikidata.org/wiki/Q176088","display_name":"Membrane","level":2,"score":0.0957845151424408},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.202500141","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202500141","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500141","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b74662893bfa44a3b8dfb1de31c85a16","is_oa":true,"landing_page_url":"https://doaj.org/article/b74662893bfa44a3b8dfb1de31c85a16","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 7, Iss 9, Pp n/a-n/a (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202500141","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202500141","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202500141","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5400000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320295","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412176302.pdf","grobid_xml":"https://content.openalex.org/works/W4412176302.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W2012241126","https://openalex.org/W2022145798","https://openalex.org/W2048879692","https://openalex.org/W2059382954","https://openalex.org/W2075066497","https://openalex.org/W2099045194","https://openalex.org/W2761310849","https://openalex.org/W2766027026","https://openalex.org/W2784911769","https://openalex.org/W2800462299","https://openalex.org/W2901434305","https://openalex.org/W2945145051","https://openalex.org/W2972310391","https://openalex.org/W2995950863","https://openalex.org/W2997524155","https://openalex.org/W3022163685","https://openalex.org/W3130116239","https://openalex.org/W3142706410","https://openalex.org/W3157291276","https://openalex.org/W3195041693","https://openalex.org/W4210818687","https://openalex.org/W4250623175","https://openalex.org/W4285512527","https://openalex.org/W4296935205","https://openalex.org/W4297023618","https://openalex.org/W4309336364","https://openalex.org/W4312775500","https://openalex.org/W4318820072","https://openalex.org/W4388076714","https://openalex.org/W4388904364","https://openalex.org/W4391827377","https://openalex.org/W4399123309","https://openalex.org/W4402700823","https://openalex.org/W4405106178","https://openalex.org/W4405812235","https://openalex.org/W4411757853"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2171573941","https://openalex.org/W4360873893","https://openalex.org/W4390135167","https://openalex.org/W4317382653"],"abstract_inverted_index":{"Soft":[0],"robots":[1],"have":[2],"garnered":[3],"significant":[4],"attention":[5],"due":[6],"to":[7,69,85],"their":[8,20,45],"promising":[9],"applications":[10],"across":[11],"various":[12],"domains.":[13],"A":[14],"hallmark":[15],"of":[16,99,112,126,130,159],"these":[17],"systems":[18],"is":[19],"bilayer":[21,113,134,161],"structure,":[22],"where":[23],"strain":[24],"mismatch":[25],"caused":[26],"by":[27],"differential":[28,76],"expansion":[29],"between":[30],"layers":[31],"induces":[32],"complex":[33],"deformations.":[34],"Despite":[35],"progress":[36],"in":[37,93,103],"theoretical":[38],"modeling":[39],"and":[40,119,142,157],"numerical":[41],"simulation,":[42],"accurately":[43],"capturing":[44],"dynamic":[46,131],"behavior,":[47],"especially":[48],"during":[49],"environmental":[50],"interactions,":[51],"remains":[52],"challenging.":[53],"This":[54,122],"study":[55],"presents":[56],"a":[57,127,151],"novel":[58],"simulation":[59,107],"environment":[60],"based":[61],"on":[62],"the":[63,71,78,124,155],"discrete":[64,75],"elastic":[65],"rod":[66],"(DER)":[67],"model":[68],"address":[70],"challenge.":[72],"By":[73],"leveraging":[74],"geometry,":[77],"DER":[79],"approach":[80],"offers":[81],"superior":[82],"convergence":[83],"compared":[84],"conventional":[86],"methods":[87],"like":[88],"finite":[89],"element":[90],"method,":[91],"particularly":[92],"handling":[94],"contact":[95],"interactions\u2014an":[96],"essential":[97],"aspect":[98],"soft":[100,135,162],"robot":[101],"dynamics":[102],"real\u2010world":[104],"scenarios.":[105],"The":[106,144],"framework":[108],"incorporates":[109],"key":[110],"features":[111],"structures,":[114],"including":[115],"stretching,":[116],"bending,":[117],"twisting,":[118],"interlayer":[120],"coupling.":[121],"enables":[123],"exploration":[125],"wide":[128],"range":[129],"behaviors":[132],"for":[133,154],"robots,":[136],"such":[137],"as":[138],"gripping,":[139],"crawling,":[140],"jumping,":[141],"swimming.":[143],"insights":[145],"gained":[146],"from":[147],"this":[148],"work":[149],"provide":[150],"robust":[152],"foundation":[153],"design":[156],"control":[158],"advanced":[160],"robotic":[163],"systems.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
