{"id":"https://openalex.org/W2738606595","doi":"https://doi.org/10.1109/icra.2017.7989477","title":"Design and control of an inchworm-inspired soft robot with omega-arching locomotion","display_name":"Design and control of an inchworm-inspired soft robot with omega-arching locomotion","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738606595","doi":"https://doi.org/10.1109/icra.2017.7989477","mag":"2738606595"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989477","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5067785831","display_name":"Huaxia Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huaxia Guo","raw_affiliation_strings":["State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393287","display_name":"Jinhua Zhang","orcid":"https://orcid.org/0000-0002-1178-2058"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhua Zhang","raw_affiliation_strings":["State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100453456","display_name":"Tao Wang","orcid":"https://orcid.org/0000-0002-0358-2873"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Wang","raw_affiliation_strings":["State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101497983","display_name":"Yuanjie Li","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanjie Li","raw_affiliation_strings":["State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027754907","display_name":"Jun Hong","orcid":"https://orcid.org/0000-0001-9556-9619"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Hong","raw_affiliation_strings":["State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100387865","display_name":"Yue Li","orcid":"https://orcid.org/0000-0003-4190-8683"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Li","raw_affiliation_strings":["State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for manufacturing systems Engineering Xi'an Jiaotong University","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067785831"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":1.8252,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.84361483,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4154","last_page":"4159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9983000159263611,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9947999715805054,"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/robot","display_name":"Robot","score":0.7414810061454773},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5400650501251221},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46188586950302124},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4152628481388092},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38823020458221436},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3810935914516449},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3663240671157837},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.33628082275390625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32093581557273865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2554294466972351},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15294328331947327}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7414810061454773},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5400650501251221},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46188586950302124},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4152628481388092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38823020458221436},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3810935914516449},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3663240671157837},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33628082275390625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32093581557273865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2554294466972351},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15294328331947327}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989477","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327038","display_name":"State Key Laboratory for Manufacturing Systems Engineering","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W624960158","https://openalex.org/W1964395786","https://openalex.org/W1981386870","https://openalex.org/W2012194282","https://openalex.org/W2018578494","https://openalex.org/W2023785157","https://openalex.org/W2025613329","https://openalex.org/W2029129519","https://openalex.org/W2029744358","https://openalex.org/W2046768953","https://openalex.org/W2054427316","https://openalex.org/W2074207981","https://openalex.org/W2104892741","https://openalex.org/W2105377162","https://openalex.org/W2108627285","https://openalex.org/W2111332095","https://openalex.org/W2122090762","https://openalex.org/W2124540383"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W1886477626","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2762381663"],"abstract_inverted_index":{"This":[0],"paper":[1,64],"presents":[2],"an":[3,113],"inchworm":[4,48,74],"inspired":[5,45],"soft":[6,11,37,43,57],"robot":[7,27,38,44,89,111,126],"composed":[8],"of":[9,29,62,72,87],"the":[10,13,19,24,32,36,47,54,68,88,106,110,124],"body,":[12],"front":[14],"foot":[15,86],"as":[16,18],"well":[17],"back":[20],"foot.":[21],"Compared":[22],"to":[23,66,104],"traditional":[25],"inchworm-type":[26],"consisting":[28],"rigid":[30],"components,":[31],"driven":[33],"mode":[34],"for":[35],"is":[39,65],"more":[40],"simple.":[41],"The":[42,59],"by":[46],"has":[49,127],"higher":[50],"locomotion":[51,115],"efficiency":[52],"than":[53],"other":[55],"bionic":[56],"robot.":[58],"main":[60],"idea":[61],"this":[63],"imitate":[67],"\u201c\u03a9\u201d":[69],"motion":[70],"shape":[71],"biology":[73],"based":[75],"on":[76],"a":[77],"silicone":[78],"square":[79],"tube":[80],"with":[81,96],"strain-limiting":[82],"layers.":[83],"Besides,":[84],"each":[85],"made":[90],"through":[91],"3D":[92],"printing":[93],"technology":[94],"together":[95],"metal":[97],"sheet":[98],"can":[99],"produce":[100],"different":[101],"friction":[102],"coefficients":[103],"achieve":[105],"anchor-motion":[107],"movement.":[108],"Then,":[109],"realizes":[112],"inchworm-like":[114],"under":[116],"certain":[117],"actuation":[118],"patterns.":[119],"Experimental":[120],"results":[121],"show":[122],"that":[123],"proposed":[125],"excellent":[128],"performance.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4}],"updated_date":"2026-03-13T14:20:09.374765","created_date":"2025-10-10T00:00:00"}