{"id":"https://openalex.org/W3174073039","doi":"https://doi.org/10.1017/s0263574721000722","title":"Advanced soft robot modeling in ChainQueen","display_name":"Advanced soft robot modeling in ChainQueen","publication_year":2021,"publication_date":"2021-06-23","ids":{"openalex":"https://openalex.org/W3174073039","doi":"https://doi.org/10.1017/s0263574721000722","mag":"3174073039"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574721000722","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574721000722","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/FACC977AC73D95935AB7122362C3CB70/S0263574721000722a.pdf/div-class-title-advanced-soft-robot-modeling-in-chainqueen-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/FACC977AC73D95935AB7122362C3CB70/S0263574721000722a.pdf/div-class-title-advanced-soft-robot-modeling-in-chainqueen-div.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006466898","display_name":"Andrew Spielberg","orcid":"https://orcid.org/0000-0002-6937-6204"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew Spielberg","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":"https://orcid.org/0000-0002-6937-6204","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102975242","display_name":"Tao Du","orcid":"https://orcid.org/0000-0001-7337-7667"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tao Du","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101864943","display_name":"Yuanming Hu","orcid":"https://orcid.org/0000-0001-5640-6825"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuanming Hu","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wojciech Matusik","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006466898"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.2731,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.77408129,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"41","issue":"1","first_page":"74","last_page":"104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9872000217437744,"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/modular-design","display_name":"Modular design","score":0.805670976638794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6959603428840637},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6510893106460571},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5867374539375305},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5250675082206726},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5143507719039917},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4988133907318115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4796236455440521},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4760981798171997},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4414322078227997},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.43557465076446533},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42059051990509033},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3701767027378082},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15130412578582764},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1219506561756134}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.805670976638794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6959603428840637},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6510893106460571},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5867374539375305},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5250675082206726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5143507719039917},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4988133907318115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4796236455440521},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4760981798171997},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4414322078227997},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.43557465076446533},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42059051990509033},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3701767027378082},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15130412578582764},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1219506561756134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574721000722","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574721000722","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/FACC977AC73D95935AB7122362C3CB70/S0263574721000722a.pdf/div-class-title-advanced-soft-robot-modeling-in-chainqueen-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/143792","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/143792","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cambridge University Press","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"doi:10.1017/s0263574721000722","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574721000722","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/FACC977AC73D95935AB7122362C3CB70/S0263574721000722a.pdf/div-class-title-advanced-soft-robot-modeling-in-chainqueen-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3684603985","display_name":null,"funder_award_id":"1830901","funder_id":"https://openalex.org/F4320337395","funder_display_name":"Division of Emerging Frontiers in Research and Innovation"},{"id":"https://openalex.org/G8583225090","display_name":null,"funder_award_id":"1830901","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G97508571","display_name":null,"funder_award_id":"2019-19020100001","funder_id":"https://openalex.org/F4320333051","funder_display_name":"Intelligence Advanced Research Projects Activity"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320333051","display_name":"Intelligence Advanced Research Projects Activity","ror":"https://ror.org/01v3fsc55"},{"id":"https://openalex.org/F4320337395","display_name":"Division of Emerging Frontiers in Research and Innovation","ror":"https://ror.org/0388pet74"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3174073039.pdf","grobid_xml":"https://content.openalex.org/works/W3174073039.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W31443656","https://openalex.org/W1522301498","https://openalex.org/W1704704075","https://openalex.org/W1900860620","https://openalex.org/W1965085760","https://openalex.org/W1992327090","https://openalex.org/W1993309788","https://openalex.org/W2005092540","https://openalex.org/W2022566626","https://openalex.org/W2043801342","https://openalex.org/W2074433215","https://openalex.org/W2089726988","https://openalex.org/W2101485019","https://openalex.org/W2112961542","https://openalex.org/W2156410578","https://openalex.org/W2162410491","https://openalex.org/W2295179809","https://openalex.org/W2402144811","https://openalex.org/W2465888780","https://openalex.org/W2469863283","https://openalex.org/W2521333807","https://openalex.org/W2552391307","https://openalex.org/W2556096037","https://openalex.org/W2559857813","https://openalex.org/W2610992585","https://openalex.org/W2611752399","https://openalex.org/W2739405427","https://openalex.org/W2768326939","https://openalex.org/W2769733039","https://openalex.org/W2783824884","https://openalex.org/W2791693147","https://openalex.org/W2804072623","https://openalex.org/W2805883505","https://openalex.org/W2808041318","https://openalex.org/W2809146571","https://openalex.org/W2810873357","https://openalex.org/W2891122218","https://openalex.org/W2891326594","https://openalex.org/W2899771611","https://openalex.org/W2952915411","https://openalex.org/W2959624262","https://openalex.org/W2962867885","https://openalex.org/W2963030758","https://openalex.org/W2968042644","https://openalex.org/W2970293125","https://openalex.org/W2970529185","https://openalex.org/W3003409178","https://openalex.org/W3099530328","https://openalex.org/W6683848318","https://openalex.org/W6729508183","https://openalex.org/W6752737978","https://openalex.org/W6767077755","https://openalex.org/W6767287707"],"related_works":["https://openalex.org/W4308122636","https://openalex.org/W1575455118","https://openalex.org/W3122235497","https://openalex.org/W3044860034","https://openalex.org/W1577150334","https://openalex.org/W3216679998","https://openalex.org/W4223630287","https://openalex.org/W1975952257","https://openalex.org/W2626401248","https://openalex.org/W3163328464"],"abstract_inverted_index":{"Abstract":[0],"We":[1,34,55,91],"present":[2],"extensions":[3,59,98],"to":[4,37,82],"ChainQueen,":[5,38],"an":[6,61],"open":[7],"source,":[8],"fully":[9],"differentiable":[10],"material":[11,50],"point":[12],"method":[13],"simulator":[14,58,97],"for":[15,26,31,40],"soft":[16,32],"robotics.":[17,33],"Previous":[18],"work":[19],"established":[20],"ChainQueen":[21],"as":[22],"a":[23],"powerful":[24],"tool":[25],"inference,":[27],"control,":[28],"and":[29,44,46,52,75],"co-design":[30],"detail":[35],"enhancements":[36],"allowing":[39],"more":[41],"efficient":[42],"simulation":[43],"optimization":[45],"expressive":[47],"co-optimization":[48],"over":[49,100],"properties":[51],"geometric":[53,76],"parameters.":[54],"package":[56],"our":[57,96],"in":[60,86,99],"easy-to-use,":[62],"modular":[63],"application":[64],"programming":[65],"interface":[66],"(API)":[67],"with":[68],"predefined":[69],"observation":[70],"models,":[71],"controllers,":[72],"actuators,":[73],"optimizers,":[74],"processing":[77],"tools,":[78],"making":[79],"it":[80],"simple":[81],"prototype":[83],"complex":[84],"experiments":[85],"50":[87],"lines":[88],"or":[89],"fewer.":[90],"demonstrate":[92],"the":[93],"power":[94],"of":[95],"nine":[101],"simulated":[102],"experiments.":[103]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
