{"id":"https://openalex.org/W2937607242","doi":"https://doi.org/10.1109/ccis.2018.8691353","title":"Modeling and Experiment of Three-cavity Soft Manipulator","display_name":"Modeling and Experiment of Three-cavity Soft Manipulator","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2937607242","doi":"https://doi.org/10.1109/ccis.2018.8691353","mag":"2937607242"},"language":"en","primary_location":{"id":"doi:10.1109/ccis.2018.8691353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccis.2018.8691353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 5th IEEE International Conference on Cloud Computing and Intelligence Systems (CCIS)","raw_type":"proceedings-article"},"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/A5101864331","display_name":"Fanchang Meng","orcid":"https://orcid.org/0000-0002-6596-5415"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanchang Meng","raw_affiliation_strings":["College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100746421","display_name":"Fengyu Xu","orcid":"https://orcid.org/0000-0002-1889-0318"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Xu","raw_affiliation_strings":["College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102771383","display_name":"Mingliang Wu","orcid":"https://orcid.org/0009-0000-9315-7434"},"institutions":[{"id":"https://openalex.org/I22716506","display_name":"Lanzhou University of Technology","ror":"https://ror.org/03panb555","country_code":"CN","type":"education","lineage":["https://openalex.org/I22716506"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingliang Wu","raw_affiliation_strings":["chool of Mechanical &amp; Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China","chool of Mechanical & Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"chool of Mechanical &amp; Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China","institution_ids":["https://openalex.org/I22716506"]},{"raw_affiliation_string":"chool of Mechanical & Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China","institution_ids":["https://openalex.org/I22716506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101433591","display_name":"Guoping Jiang","orcid":"https://orcid.org/0000-0003-1133-2222"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoping Jiang","raw_affiliation_strings":["College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023","institution_ids":["https://openalex.org/I41198531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1018","last_page":"1022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9944999814033508,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9796000123023987,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.7968744039535522},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7367333173751831},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.7248548269271851},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6743303537368774},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5985360741615295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811770558357239},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.49886298179626465},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.49039173126220703},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4723716080188751},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4612428545951843},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4226980209350586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4151206612586975},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3493851125240326},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3449634909629822},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2859746813774109},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2127179205417633},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1631619930267334},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15276804566383362},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12935855984687805},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08308741450309753},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08227941393852234},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06845107674598694},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.059252917766571045}],"concepts":[{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.7968744039535522},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7367333173751831},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.7248548269271851},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6743303537368774},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5985360741615295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811770558357239},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.49886298179626465},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.49039173126220703},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4723716080188751},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4612428545951843},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4226980209350586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4151206612586975},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3493851125240326},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3449634909629822},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2859746813774109},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2127179205417633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1631619930267334},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15276804566383362},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12935855984687805},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08308741450309753},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08227941393852234},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06845107674598694},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.059252917766571045},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":3,"locations":[{"id":"doi:10.1109/ccis.2018.8691353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccis.2018.8691353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 5th IEEE International Conference on Cloud Computing and Intelligence Systems (CCIS)","raw_type":"proceedings-article"},{"id":"pmh:oai:ir.lzu.edu.cn/:262010/286010","is_oa":false,"landing_page_url":"http://ir.lzu.edu.cn/handle/262010/286010","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},{"id":"pmh:oai:ir.lzu.edu.cn/:262010/294466","is_oa":false,"landing_page_url":"http://ir.lzu.edu.cn/handle/262010/294466","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.6899999976158142,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1534342237","https://openalex.org/W1970557511","https://openalex.org/W2101667962","https://openalex.org/W2790407588"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"The":[0,34],"soft":[1,32],"robot":[2],"is":[3,37,49,54],"a":[4,30],"new":[5],"kind":[6],"of":[7,13,16],"robot,":[8],"which":[9],"has":[10],"the":[11,52],"characteristics":[12],"high":[14],"softness":[15],"materials,":[17],"good":[18],"environmental":[19],"adaptability,":[20],"strong":[21],"man-machine":[22],"interaction":[23],"and":[24,45],"diverse":[25],"functions.":[26],"This":[27],"paper":[28],"designs":[29],"three-cavity":[31],"manipulator.":[33],"kinematics":[35],"model":[36,48],"built":[38],"by":[39,56],"using":[40],"piecewise":[41],"constant":[42],"curvature":[43],"method":[44],"its":[46],"static":[47],"analyzed.":[50],"Finally,":[51],"simulation":[53],"verified":[55],"experiments.":[57]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
