{"id":"https://openalex.org/W2968328831","doi":"https://doi.org/10.1109/icra.2019.8794370","title":"Controllability pre-verification of silicone soft robots based on finite-element method","display_name":"Controllability pre-verification of silicone soft robots based on finite-element method","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968328831","doi":"https://doi.org/10.1109/icra.2019.8794370","mag":"2968328831"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794370","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02403899","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038119641","display_name":"Gang Zheng","orcid":"https://orcid.org/0000-0002-5671-7700"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210138412","display_name":"Centre Inria de l'Universit\u00e9 de Lille","ror":"https://ror.org/04eej9726","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210138412"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"G. Zheng","raw_affiliation_strings":["INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","DEFROST - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DEFROST - Deformable Robots Simulation Team (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000950523","display_name":"Olivier Goury","orcid":"https://orcid.org/0000-0002-8616-350X"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210138412","display_name":"Centre Inria de l'Universit\u00e9 de Lille","ror":"https://ror.org/04eej9726","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210138412"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"O. Goury","raw_affiliation_strings":["INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","DEFROST - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DEFROST - Deformable Robots Simulation Team (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025897738","display_name":"Maxime Thieffry","orcid":"https://orcid.org/0000-0002-6192-8561"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210138412","display_name":"Centre Inria de l'Universit\u00e9 de Lille","ror":"https://ror.org/04eej9726","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210138412"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Thieffry","raw_affiliation_strings":["INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","DEFROST - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DEFROST - Deformable Robots Simulation Team (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012491077","display_name":"Alexandre Kruszewski","orcid":"https://orcid.org/0000-0002-6037-5862"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4210138412","display_name":"Centre Inria de l'Universit\u00e9 de Lille","ror":"https://ror.org/04eej9726","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210138412"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Kruszewski","raw_affiliation_strings":["INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","DEFROST - Deformable Robots Simulation Team (France)","CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)","Centrale Lille (\u00c9cole Centrale de Lille - Cit\u00e9 Scientifique - CS 20048 59651 Villeneuve d'Ascq Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DEFROST - Deformable Robots Simulation Team (France)","institution_ids":[]},{"raw_affiliation_string":"CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (Universit\u00e9 de Lille - Campus scientifique - B\u00e2timent ESPRIT - Avenue Henri Poincar\u00e9 - 59655 Villeneuve d\u2019Ascq - France)","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970"]},{"raw_affiliation_string":"Centrale Lille (\u00c9cole Centrale de Lille - Cit\u00e9 Scientifique - CS 20048 59651 Villeneuve d'Ascq Cedex - France)","institution_ids":["https://openalex.org/I7454413"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"id":"https://openalex.org/I1293448361","display_name":"Institut de Radioprotection et de S\u00fbret\u00e9 Nucl\u00e9aire","ror":"https://ror.org/01ha22c77","country_code":"FR","type":"nonprofit","lineage":["https://openalex.org/I1293448361"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210138412","display_name":"Centre Inria de l'Universit\u00e9 de Lille","ror":"https://ror.org/04eej9726","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210138412"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Duriez","raw_affiliation_strings":["INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","IRSN - Institut de Radioprotection et de S\u00fbret\u00e9 Nucl\u00e9aire (F-92260, Fontenay-aux-Roses - France)","DEFROST - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Lille-Nord Europe, 40, avenue Halley, 59650 Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210138412","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"IRSN - Institut de Radioprotection et de S\u00fbret\u00e9 Nucl\u00e9aire (F-92260, Fontenay-aux-Roses - France)","institution_ids":["https://openalex.org/I1293448361"]},{"raw_affiliation_string":"DEFROST - Deformable Robots Simulation Team (France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6949,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.83147572,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7395","last_page":"7400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9976000189781189,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/controllability","display_name":"Controllability","score":0.8758608102798462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7967926263809204},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6846463084220886},{"id":"https://openalex.org/keywords/galerkin-method","display_name":"Galerkin method","score":0.5871896743774414},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.564260721206665},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5590093731880188},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4546149969100952},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35316935181617737},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3301767110824585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2961015999317169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21357154846191406},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1833290457725525},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17280852794647217},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10648787021636963}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8758608102798462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7967926263809204},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6846463084220886},{"id":"https://openalex.org/C186899397","wikidata":"https://www.wikidata.org/wiki/Q1491980","display_name":"Galerkin method","level":3,"score":0.5871896743774414},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.564260721206665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5590093731880188},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4546149969100952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35316935181617737},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3301767110824585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2961015999317169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21357154846191406},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1833290457725525},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17280852794647217},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10648787021636963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2019.8794370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794370","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02403899v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02403899","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2019 - International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.7395-7400, &#x27E8;10.1109/ICRA.2019.8794370&#x27E9;","raw_type":"Conference papers"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/21835","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/21835","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02403899v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02403899","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2019 - International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.7395-7400, &#x27E8;10.1109/ICRA.2019.8794370&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W39767160","https://openalex.org/W95449539","https://openalex.org/W1605573896","https://openalex.org/W1823791555","https://openalex.org/W1868559974","https://openalex.org/W1984516949","https://openalex.org/W2059316647","https://openalex.org/W2065313971","https://openalex.org/W2073677587","https://openalex.org/W2079574144","https://openalex.org/W2088872157","https://openalex.org/W2097770951","https://openalex.org/W2104860433","https://openalex.org/W2126903321","https://openalex.org/W2143511555","https://openalex.org/W2147414751","https://openalex.org/W2156218502","https://openalex.org/W2161024376","https://openalex.org/W2167340365","https://openalex.org/W2296166276","https://openalex.org/W2521333807","https://openalex.org/W2735500848","https://openalex.org/W2768326939","https://openalex.org/W2794745830","https://openalex.org/W2884288731","https://openalex.org/W3049645800","https://openalex.org/W4251181231","https://openalex.org/W4292872153","https://openalex.org/W6601610641","https://openalex.org/W6638668618","https://openalex.org/W6696993530","https://openalex.org/W6741406453","https://openalex.org/W6749709174","https://openalex.org/W6753474495","https://openalex.org/W6800164818"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2542825942","https://openalex.org/W3201620972","https://openalex.org/W3152905387"],"abstract_inverted_index":{"Soft":[0],"robot":[1],"is":[2,25,47,64,78,92],"an":[3],"emergent":[4],"research":[5],"field":[6],"which":[7,24,59],"has":[8],"variant":[9],"promising":[10],"applications.":[11],"However,":[12],"the":[13,21,41,51,60,68,71],"design":[14,34,43],"of":[15,53,70,73],"soft":[16,35,55,101],"robots":[17,36],"nowadays":[18],"still":[19],"follows":[20],"trial-and-error":[22],"process,":[23],"not":[26],"at":[27],"all":[28],"efficient.":[29],"This":[30],"paper":[31],"proposes":[32],"to":[33,49,66],"by":[37,95],"pre-checking":[38],"controllability":[39,69],"during":[40],"numerical":[42],"phase.":[44],"Finite-element":[45],"method":[46,63],"used":[48],"model":[50,82],"dynamics":[52],"silicone":[54],"robots,":[56],"based":[57],"on":[58],"differential":[61],"geometric":[62],"applied":[65],"analyze":[67],"points":[72],"interest.":[74],"Such":[75],"a":[76,98],"verification":[77],"also":[79],"investigated":[80],"via":[81],"order":[83],"reduction":[84],"technique":[85],"and":[86],"Galerkin":[87],"projection.":[88],"The":[89],"proposed":[90],"methodology":[91],"finally":[93],"validated":[94],"numerically":[96],"designing":[97],"controllable":[99],"parallel":[100],"robot.":[102]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
