{"id":"https://openalex.org/W4401414615","doi":"https://doi.org/10.1109/icra57147.2024.10611157","title":"Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation","display_name":"Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414615","doi":"https://doi.org/10.1109/icra57147.2024.10611157"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611157","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5017029364","display_name":"Panagiotis Vartholomeos","orcid":"https://orcid.org/0000-0002-0649-8546"},"institutions":[{"id":"https://openalex.org/I145722265","display_name":"University of Thessaly","ror":"https://ror.org/04v4g9h31","country_code":"GR","type":"education","lineage":["https://openalex.org/I145722265"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Panagiotis Vartholomeos","raw_affiliation_strings":["University of Thessaly,Department of Computer Science and Biomedical Informatics,Lamia,Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Thessaly,Department of Computer Science and Biomedical Informatics,Lamia,Greece","institution_ids":["https://openalex.org/I145722265"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086331698","display_name":"Zicong Wu","orcid":"https://orcid.org/0000-0002-9794-9401"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zicong Wu","raw_affiliation_strings":["Kings College London,School of Biomedical Engineering & Imaging Sciences,London,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kings College London,School of Biomedical Engineering & Imaging Sciences,London,UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076130972","display_name":"S. M. Hadi Sadati","orcid":"https://orcid.org/0000-0002-5862-265X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S.M. Hadi Sadati","raw_affiliation_strings":["Kings College London,School of Biomedical Engineering & Imaging Sciences,London,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kings College London,School of Biomedical Engineering & Imaging Sciences,London,UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008795008","display_name":"Christos Bergeles","orcid":"https://orcid.org/0000-0002-9152-3194"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christos Bergeles","raw_affiliation_strings":["Kings College London,School of Biomedical Engineering & Imaging Sciences,London,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kings College London,School of Biomedical Engineering & Imaging Sciences,London,UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017029364"],"corresponding_institution_ids":["https://openalex.org/I145722265"],"apc_list":null,"apc_paid":null,"fwci":1.0582,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.74274078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12734","last_page":"12740"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973999857902527,"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/computer-science","display_name":"Computer science","score":0.6181350350379944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5415236949920654},{"id":"https://openalex.org/keywords/model-validation","display_name":"Model validation","score":0.45368871092796326},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3853093981742859},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3460771441459656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17481449246406555},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0689251720905304}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6181350350379944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5415236949920654},{"id":"https://openalex.org/C3019813237","wikidata":"https://www.wikidata.org/wiki/Q65089264","display_name":"Model validation","level":2,"score":0.45368871092796326},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3853093981742859},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3460771441459656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17481449246406555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0689251720905304},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611157","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5400000214576721,"display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320335087","display_name":"Innovate UK","ror":"https://ror.org/05ar5fy68"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2014450203","https://openalex.org/W2068793240","https://openalex.org/W2140186628","https://openalex.org/W2734595964","https://openalex.org/W2737491236","https://openalex.org/W2919013143","https://openalex.org/W2997818245","https://openalex.org/W3003868926","https://openalex.org/W3016937207","https://openalex.org/W3105818082","https://openalex.org/W3109113489","https://openalex.org/W3140000252","https://openalex.org/W3150728867","https://openalex.org/W3205207361","https://openalex.org/W4254089362","https://openalex.org/W4313598773","https://openalex.org/W6669590505"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8,14,50,84],"lumped-parameter":[4],"dynamic":[5],"model":[6,26],"of":[7,43,52,102,119],"pressure":[9],"driven":[10],"eversion":[11],"robot":[12,89],"carrying":[13],"catheter":[15,56],"through":[16],"its":[17],"hollow":[18],"core.":[19],"A":[20],"simulation":[21,109],"framework":[22],"based":[23],"on":[24,78],"the":[25,36,41,55,79],"is":[27,32,83],"developed":[28],"in":[29,133],"MATLAB":[30],"and":[31,45],"used":[33,59],"for":[34,39,46,49,64,71,90,99],"understanding":[35],"underlying":[37],"physics,":[38],"identifying":[40],"regions":[42,101],"operation,":[44],"demonstrating":[47],"that,":[48],"range":[51],"input":[53],"commands,":[54],"can":[57],"be":[58,131],"as":[60],"an":[61,67,111],"actuation":[62],"mechanism":[63],"propelling":[65],"eversion;":[66],"approach":[68],"especially":[69],"useful":[70],"miniaturised":[72],"systems.":[73],"Simulations":[74],"are":[75],"experimentally":[76],"validated":[77],"MAMMOBOT":[80],"system,":[81],"which":[82,129],"miniature":[85],"steerable":[86],"soft":[87],"growing":[88],"early":[91],"breast":[92],"cancer":[93],"detection.":[94],"It":[95],"was":[96],"demonstrated":[97,121],"that":[98],"most":[100],"operation":[103,120],"experimental":[104],"results":[105],"compare":[106],"well":[107],"with":[108],"exhibiting":[110],"error":[112],"less":[113],"than":[114],"4%.":[115],"Only":[116],"one":[117],"region":[118],"larger":[122],"deviations":[123],"due":[124],"possibly":[125],"to":[126],"unmodeled":[127],"dynamics,":[128],"will":[130],"investigated":[132],"future":[134],"work.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}