{"id":"https://openalex.org/W4221161374","doi":"https://doi.org/10.1109/icra46639.2022.9811927","title":"Scalable Simulation and Demonstration of Jumping Piezoelectric 2-D Soft Robots","display_name":"Scalable Simulation and Demonstration of Jumping Piezoelectric 2-D Soft Robots","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221161374","doi":"https://doi.org/10.1109/icra46639.2022.9811927"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811927","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2202.13521","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028106277","display_name":"Zhiwu Zheng","orcid":"https://orcid.org/0000-0003-4234-6774"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhiwu Zheng","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079792057","display_name":"Prakhar Kumar","orcid":"https://orcid.org/0000-0002-0479-1976"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prakhar Kumar","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012781905","display_name":"Yenan Chen","orcid":"https://orcid.org/0000-0002-9906-4500"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yenan Chen","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102884997","display_name":"Hsin Cheng","orcid":"https://orcid.org/0000-0002-3057-6874"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hsin Cheng","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032133587","display_name":"S. Wagner","orcid":"https://orcid.org/0000-0002-3222-4071"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sigurd Wagner","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664381","display_name":"Minjie Chen","orcid":"https://orcid.org/0000-0003-0705-563X"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minjie Chen","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101645607","display_name":"Naveen Verma","orcid":"https://orcid.org/0000-0002-8208-5030"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naveen Verma","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074204707","display_name":"James C. Sturm","orcid":"https://orcid.org/0000-0002-0878-5266"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James C. Sturm","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A,08544","institution_ids":["https://openalex.org/I20089843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5028106277"],"corresponding_institution_ids":["https://openalex.org/I20089843"],"apc_list":null,"apc_paid":null,"fwci":3.2165,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.93523238,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5199","last_page":"5204"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.7592970132827759},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7119179964065552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6911226511001587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6222304701805115},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.4378047287464142},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33229053020477295},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.22562319040298462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2041139304637909},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1815963089466095},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.06683754920959473}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.7592970132827759},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7119179964065552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6911226511001587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6222304701805115},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.4378047287464142},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33229053020477295},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.22562319040298462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2041139304637909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1815963089466095},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.06683754920959473},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9811927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811927","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2202.13521","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.13521","pdf_url":"https://arxiv.org/pdf/2202.13521","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2202.13521","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.13521","pdf_url":"https://arxiv.org/pdf/2202.13521","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2018578494","https://openalex.org/W2033096675","https://openalex.org/W2097770951","https://openalex.org/W2161795049","https://openalex.org/W2470745449","https://openalex.org/W2511924737","https://openalex.org/W2738959767","https://openalex.org/W2774569404","https://openalex.org/W2803260709","https://openalex.org/W2870735678","https://openalex.org/W2884288731","https://openalex.org/W2912944518","https://openalex.org/W2955102412","https://openalex.org/W2966665557","https://openalex.org/W2967653827","https://openalex.org/W2996185064","https://openalex.org/W4234886739","https://openalex.org/W6646915566"],"related_works":["https://openalex.org/W648845647","https://openalex.org/W2381882558","https://openalex.org/W4388849567","https://openalex.org/W2486266915","https://openalex.org/W964501512","https://openalex.org/W2102267190","https://openalex.org/W1995093229","https://openalex.org/W2363955986","https://openalex.org/W2318030984","https://openalex.org/W2436652189"],"abstract_inverted_index":{"Soft":[0],"robots":[1],"have":[2],"drawn":[3],"great":[4],"interest":[5],"due":[6],"to":[7,10,21,36,81,93,113,123,146],"their":[8],"ability":[9],"take":[11],"on":[12,85],"a":[13,53,63,86,94,125],"rich":[14],"range":[15],"of":[16,58],"shapes":[17,161],"and":[18,28,31,39,46,61,105,120,130,136,156,170,178],"motions,":[19,27,159],"compared":[20],"traditional":[22],"rigid":[23],"robots.":[24],"However,":[25],"the":[26,101,115,140,147,154],"underlying":[29],"statics":[30],"dynamics,":[32],"pose":[33],"significant":[34],"challenges":[35],"forming":[37],"well-generalized":[38],"robust":[40],"models":[41],"necessary":[42],"for":[43,138,162],"robot":[44,56,70,87,158,189],"design":[45],"control.":[47],"In":[48],"this":[49],"work,":[50],"we":[51],"demonstrate":[52],"five-actuator":[54,148],"soft":[55],"capable":[57],"complex":[59,184],"motions":[60,182],"develop":[62],"scalable":[64],"simulation":[65,73,98,135],"framework":[66,74,99],"that":[67],"reliably":[68],"predicts":[69],"motions.":[71],"The":[72,97,142],"is":[75],"validated":[76],"by":[77,111],"comparing":[78],"its":[79],"predictions":[80],"experimental":[82],"results,":[83],"based":[84],"constructed":[88],"from":[89],"piezoelectric":[90],"layers":[91],"bonded":[92],"steel-foil":[95],"substrate.":[96],"exploits":[100],"physics":[102],"engine":[103],"PyBullet,":[104],"employs":[106],"discrete":[107],"rigid-link":[108],"elements":[109],"connected":[110],"motors":[112],"model":[114],"actuators.":[116],"We":[117],"perform":[118],"static":[119,155],"AC":[121,157],"analyses":[122,143],"validate":[124],"single-unit":[126],"actuator":[127],"cantilever":[128],"setup":[129],"observe":[131],"close":[132],"agreement":[133],"between":[134],"experiments":[137],"both":[139],"cases.":[141],"are":[144],"extended":[145],"robot,":[149],"where":[150],"simulations":[151],"accurately":[152],"predict":[153],"including":[160],"applied":[163],"DC":[164],"voltage":[165],"inputs,":[166],"nearly-static":[167],"\u201cinchworm\u201d":[168],"motion,":[169],"jumping":[171],"(in":[172],"vertical":[173,177],"as":[174,176],"well":[175],"horizontal":[179],"directions).":[180],"These":[181],"exhibit":[183],"non-linear":[185],"behavior,":[186],"with":[187],"forward":[188],"motion":[190],"reaching":[191],"\u03341":[192],"cm/s.":[193],"Our":[194],"open-source":[195],"code":[196],"can":[197],"be":[198],"found":[199],"at:":[200],"https://github.com/zhiwuz/sfers.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
