{"id":"https://openalex.org/W4383108267","doi":"https://doi.org/10.1109/icra48891.2023.10161540","title":"Navigating Soft Robots through Wireless Heating","display_name":"Navigating Soft Robots through Wireless Heating","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108267","doi":"https://doi.org/10.1109/icra48891.2023.10161540"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161540","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5054105523","display_name":"Yiwen Song","orcid":"https://orcid.org/0000-0002-9253-889X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yiwen Song","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056485509","display_name":"Mason Zadan","orcid":"https://orcid.org/0000-0002-5718-3579"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mason Zadan","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057988302","display_name":"Kushaan Misra","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kushaan Misra","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023483000","display_name":"Zefang Li","orcid":"https://orcid.org/0000-0003-4643-4579"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zefang Li","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101929680","display_name":"Jingxian Wang","orcid":"https://orcid.org/0000-0003-4904-8892"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingxian Wang","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050506400","display_name":"Carmel Majidi","orcid":"https://orcid.org/0000-0002-6469-9645"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carmel Majidi","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042675455","display_name":"Swarun Kumar","orcid":"https://orcid.org/0000-0002-5398-5347"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swarun Kumar","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5054105523"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.6842,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.81888369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2598","last_page":"2605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6878395080566406},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5811198949813843},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5712404251098633},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.5152536034584045},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45140254497528076},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.445313036441803},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.41773858666419983},{"id":"https://openalex.org/keywords/heat-generation","display_name":"Heat generation","score":0.41382133960723877},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.40491732954978943},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.3559747338294983},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.35339006781578064},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3472013473510742},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29358187317848206},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11124828457832336},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10219448804855347}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6878395080566406},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5811198949813843},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5712404251098633},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.5152536034584045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45140254497528076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.445313036441803},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.41773858666419983},{"id":"https://openalex.org/C3020116064","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Heat generation","level":2,"score":0.41382133960723877},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.40491732954978943},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3559747338294983},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.35339006781578064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3472013473510742},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29358187317848206},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11124828457832336},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10219448804855347},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161540","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G1655044437","display_name":null,"funder_award_id":"2030154,2106921,2007786,1942902,2111751","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W3701817","https://openalex.org/W1487886664","https://openalex.org/W1826399803","https://openalex.org/W1986596628","https://openalex.org/W1986839095","https://openalex.org/W1997419375","https://openalex.org/W2005778412","https://openalex.org/W2040243778","https://openalex.org/W2046722648","https://openalex.org/W2048323196","https://openalex.org/W2049397473","https://openalex.org/W2049507764","https://openalex.org/W2051284939","https://openalex.org/W2101303437","https://openalex.org/W2155156416","https://openalex.org/W2168886844","https://openalex.org/W2307884575","https://openalex.org/W2412639957","https://openalex.org/W2506686533","https://openalex.org/W2515930553","https://openalex.org/W2517713314","https://openalex.org/W2719477690","https://openalex.org/W2725448720","https://openalex.org/W2789418330","https://openalex.org/W2903854300","https://openalex.org/W2964874266","https://openalex.org/W2969922827","https://openalex.org/W2977571303","https://openalex.org/W2980226664","https://openalex.org/W2980227422","https://openalex.org/W2996185064","https://openalex.org/W3014050165","https://openalex.org/W3032779666","https://openalex.org/W3043261985","https://openalex.org/W3043401817","https://openalex.org/W3048787826","https://openalex.org/W3115898854","https://openalex.org/W3120650385","https://openalex.org/W3121542922","https://openalex.org/W3133853752","https://openalex.org/W3150575308","https://openalex.org/W3164740901","https://openalex.org/W3165325652","https://openalex.org/W3174466449","https://openalex.org/W3193420437","https://openalex.org/W3196617904","https://openalex.org/W3205418609","https://openalex.org/W4213028169","https://openalex.org/W4224245628","https://openalex.org/W4225012724","https://openalex.org/W4281476385","https://openalex.org/W4285592180","https://openalex.org/W4292397256"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W2911666782","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W2946082576"],"abstract_inverted_index":{"Recent":[0],"work":[1],"on":[2,173],"battery-free":[3,79],"soft":[4,110,115],"robotics":[5,111],"has":[6],"demonstrated":[7],"the":[8,35,106,137,142,149,174],"use":[9],"of":[10,26,34,99,108,134,141],"liquid":[11],"crystal":[12],"elastomers":[13],"(LCE)":[14],"to":[15,51,144,162,165],"build":[16],"shape-changing":[17],"materials":[18,135],"activated":[19],"by":[20],"applied":[21],"external":[22,53],"heat.":[23],"However,":[24],"sources":[25,44],"heat":[27,164],"must":[28],"typically":[29],"be":[30,49],"in":[31],"direct":[32,163],"field-of-view":[33],"robot":[36,143,150],"(i.e.":[37,56],"NIR,":[38],"laser,":[39],"and":[40,72,88,113,136,180],"visual":[41],"light":[42],"EM":[43],"or":[45,59,63],"convective":[46],"heats":[47],"guns),":[48],"tethered":[50],"an":[52],"power":[54],"supply":[55],"thermoelectric":[57],"heating":[58,100,122,146,176],"resistive":[60],"joule":[61],"heaters),":[62],"require":[64],"a":[65,77,109,131,158,170],"heavy":[66],"on-board":[67],"battery":[68],"that":[69,82,118],"limits":[70],"mobility":[71],"range.":[73],"This":[74,102],"paper":[75],"presents":[76],"novel":[78],"soft-robotics":[80],"platform":[81,112],"can":[83],"crawl":[84],"through":[85,105,123,130,154],"confined,":[86],"enclosed,":[87],"hard-to-reach":[89],"spaces":[90,156],"(e.g.":[91],"packages,":[92],"machinery,":[93],"pipes,":[94],"etc.),":[95],"hidden":[96],"from":[97],"view":[98],"infrastructure.":[101],"is":[103,151],"achieved":[104],"co-design":[107],"integrated":[114],"conductive":[116],"traces":[117],"enable":[119],"wireless":[120],"(microwave)":[121],"remote":[124],"stimulation.":[125],"We":[126,168],"achieve":[127],"fast":[128],"actuation":[129],"careful":[132],"choice":[133],"overall":[138],"mechanical":[139],"structure":[140],"maximize":[145],"efficiency.":[147],"Further,":[148],"actively":[152],"tracked":[153],"enclosed":[155],"using":[157],"mm":[159],"Wave":[160],"radar":[161],"its":[166],"location.":[167],"provide":[169],"detailed":[171],"evaluation":[172],"robot's":[175],"efficiency,":[177],"location-tracking":[178],"accuracy":[179],"crawling":[181],"speed.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}