{"id":"https://openalex.org/W4401753209","doi":"https://doi.org/10.1109/aim55361.2024.10637194","title":"Design and Gait Optimization of an In-Pipe Robot with Bistable Inflatable Fabric Actuators","display_name":"Design and Gait Optimization of an In-Pipe Robot with Bistable Inflatable Fabric Actuators","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401753209","doi":"https://doi.org/10.1109/aim55361.2024.10637194"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10637194","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","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/A5027179986","display_name":"Weijia Tao","orcid":"https://orcid.org/0009-0005-3942-4817"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Weijia Tao","raw_affiliation_strings":["Arizona State University,Ira A. Fulton Schools of Engineering,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212"],"affiliations":[{"raw_affiliation_string":"Arizona State University,Ira A. Fulton Schools of Engineering,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033662114","display_name":"Fu\u2010Chen Chen","orcid":"https://orcid.org/0000-0002-6396-2798"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fuchen Chen","raw_affiliation_strings":["Arizona State University,Ira A. Fulton Schools of Engineering,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212"],"affiliations":[{"raw_affiliation_string":"Arizona State University,Ira A. Fulton Schools of Engineering,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066628878","display_name":"Ying Xu","orcid":"https://orcid.org/0000-0002-6547-6566"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ying Xu","raw_affiliation_strings":["Salt River Project,Water Engineering Support,Phoenix,AZ,USA,85072"],"affiliations":[{"raw_affiliation_string":"Salt River Project,Water Engineering Support,Phoenix,AZ,USA,85072","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113312554","display_name":"Andrew Johnson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew Johnson","raw_affiliation_strings":["Salt River Project,Water Engineering Support,Phoenix,AZ,USA,85072"],"affiliations":[{"raw_affiliation_string":"Salt River Project,Water Engineering Support,Phoenix,AZ,USA,85072","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040944809","display_name":"Wenlong Zhang","orcid":"https://orcid.org/0000-0002-9654-260X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenlong Zhang","raw_affiliation_strings":["Arizona State University,Ira A. Fulton Schools of Engineering,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212"],"affiliations":[{"raw_affiliation_string":"Arizona State University,Ira A. Fulton Schools of Engineering,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5027179986"],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":0.3911,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56762348,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"919","last_page":"925"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"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/inflatable","display_name":"Inflatable","score":0.9131471514701843},{"id":"https://openalex.org/keywords/bistability","display_name":"Bistability","score":0.7300837635993958},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7112441062927246},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6160866618156433},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.585547924041748},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5380918383598328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.515745222568512},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.334625780582428},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3043515384197235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30339670181274414},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2725396752357483},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.21410012245178223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18350744247436523},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09266185760498047}],"concepts":[{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.9131471514701843},{"id":"https://openalex.org/C97292510","wikidata":"https://www.wikidata.org/wiki/Q2304620","display_name":"Bistability","level":2,"score":0.7300837635993958},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7112441062927246},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6160866618156433},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.585547924041748},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5380918383598328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.515745222568512},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.334625780582428},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3043515384197235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30339670181274414},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2725396752357483},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.21410012245178223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18350744247436523},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09266185760498047},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10637194","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6000000238418579,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1595159159","https://openalex.org/W2005441309","https://openalex.org/W2156174987","https://openalex.org/W2766718428","https://openalex.org/W2771720567","https://openalex.org/W2803709553","https://openalex.org/W2873811764","https://openalex.org/W2902617670","https://openalex.org/W2909043882","https://openalex.org/W2910907434","https://openalex.org/W2947301417","https://openalex.org/W3028910754","https://openalex.org/W3131591517","https://openalex.org/W3203935747","https://openalex.org/W4212805852","https://openalex.org/W4225146045","https://openalex.org/W4281488069","https://openalex.org/W4321600694","https://openalex.org/W4389667382","https://openalex.org/W6756239781"],"related_works":["https://openalex.org/W2004196108","https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W211888945","https://openalex.org/W2014474025","https://openalex.org/W2773810465","https://openalex.org/W2970458124","https://openalex.org/W1978574942","https://openalex.org/W2619747063","https://openalex.org/W1502247793"],"abstract_inverted_index":{"Pipe":[0],"inspection":[1,71],"robots":[2,31,42],"are":[3,14,54,114],"critical":[4],"for":[5,27,130,217],"detecting":[6],"leaks":[7],"or":[8,16],"cracks,":[9],"especially":[10],"in":[11,57,111,166,192],"environments":[12],"that":[13,113],"harmful":[15],"inaccessible":[17],"to":[18,46,60,102,109,118,159,168],"humans.":[19],"In":[20,63],"particular,":[21],"sewage":[22],"pipes":[23,112],"pose":[24],"significant":[25],"challenges":[26],"traditional":[28],"rigid":[29],"pipe":[30,70,218],"because":[32],"they":[33,53],"can":[34,92],"be":[35],"filled":[36],"with":[37,140],"obstacles":[38],"and":[39,91,127,138,148,190,211],"liquid.":[40],"Soft":[41],"have":[43],"been":[44],"proposed":[45,137],"address":[47],"some":[48],"of":[49,78,97,124,208,214],"the":[50,103,122,125,161,170,181,187,198,206,212],"issues,":[51],"but":[52],"still":[55],"limited":[56],"their":[58],"ability":[59],"negotiate":[61],"obstacles.":[62],"this":[64],"paper,":[65],"we":[66],"propose":[67],"a":[68,75,133,193],"novel":[69],"robot":[72,86,126,189],"powered":[73],"by":[74,99,116],"new":[76],"class":[77],"bistable":[79],"inflatable":[80],"fabric":[81],"actuators":[82],"(BIFA).":[83],"The":[84,177],"entire":[85],"weighs":[87],"only":[88],"350":[89],"grams":[90],"exert":[93],"around":[94],"35":[95],"N":[96],"force":[98],"firmly":[100],"anchoring":[101],"pipe.":[104,176],"It":[105],"is":[106,136,156,183],"also":[107,157],"able":[108],"operate":[110],"blocked":[115],"up":[117],"34%.":[119],"To":[120],"understand":[121],"dynamics":[123],"simulate":[128],"it":[129],"gait":[131,179,215],"optimization,":[132],"reduced-order":[134],"model":[135,210],"calibrated":[139],"characterization":[141],"experiments":[142],"including":[143],"static":[144],"loading,":[145],"step":[146],"response,":[147],"anchor":[149],"test.":[150],"A":[151],"Central":[152],"Pattern":[153],"Generator":[154],"(CPG)":[155],"employed":[158],"parameterize":[160],"gait,":[162],"enabling":[163],"Bayesian":[164],"Optimization":[165],"simulation":[167],"maximize":[169],"robot\u2019s":[171],"speed":[172,195],"inside":[173],"an":[174],"unobstructed":[175],"optimized":[178],"from":[180],"optimization":[182],"directly":[184],"deployable":[185],"on":[186],"real":[188],"results":[191],"120%":[194],"increase":[196],"over":[197],"baseline":[199],"at":[200],"$23":[201],"\\mathrm{~mm}":[202],"/":[203],"\\mathrm{s}$,":[204],"showing":[205],"effectiveness":[207],"our":[209],"importance":[213],"selection":[216],"robots.":[219]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
