{"id":"https://openalex.org/W4389666224","doi":"https://doi.org/10.1109/iros55552.2023.10341377","title":"Soft Cap for Vine Robots","display_name":"Soft Cap for Vine Robots","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666224","doi":"https://doi.org/10.1109/iros55552.2023.10341377"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/98665/5/IROS_2023_Soft_Cap_for_Eversion_Robots%20Accepted%20Version.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069258208","display_name":"Cem Suulker","orcid":"https://orcid.org/0000-0002-9238-8051"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Cem Suulker","raw_affiliation_strings":["School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","institution_ids":[]},{"raw_affiliation_string":"Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052255716","display_name":"Sophie Skach","orcid":"https://orcid.org/0000-0001-6165-7469"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sophie Skach","raw_affiliation_strings":["School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","institution_ids":[]},{"raw_affiliation_string":"Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028471970","display_name":"Danyaal Kaleel","orcid":"https://orcid.org/0000-0003-2481-8475"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Danyaal Kaleel","raw_affiliation_strings":["School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","institution_ids":[]},{"raw_affiliation_string":"Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044959284","display_name":"Taqi Abrar","orcid":"https://orcid.org/0000-0002-8519-8356"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Taqi Abrar","raw_affiliation_strings":["School of Electronic Engineering and Computer Science, Queen Mary University of London,United Kingdom","School of Electronic Engineering and Computer Science, Queen Mary University of London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London,United Kingdom","institution_ids":["https://openalex.org/I166337079"]},{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London, United Kingdom","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033801880","display_name":"Zain Murtaza","orcid":null},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zain Murtaza","raw_affiliation_strings":["School of Electronic Engineering and Computer Science, Queen Mary University of London,United Kingdom","School of Electronic Engineering and Computer Science, Queen Mary University of London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London,United Kingdom","institution_ids":["https://openalex.org/I166337079"]},{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London, United Kingdom","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000753224","display_name":"Dilara Suulker","orcid":null},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dilara Suulker","raw_affiliation_strings":["School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","institution_ids":[]},{"raw_affiliation_string":"Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Materials Science,Centre for Advanced Robotics @ Queen Mary","institution_ids":[]},{"raw_affiliation_string":"Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5069258208"],"corresponding_institution_ids":["https://openalex.org/I166337079"],"apc_list":null,"apc_paid":null,"fwci":0.544,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62547711,"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":"6462","last_page":"6468"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.8042930364608765},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.74118971824646},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6272045373916626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6029621362686157},{"id":"https://openalex.org/keywords/vine","display_name":"Vine","score":0.5916780829429626},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.503872811794281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4845842123031616},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4124215245246887},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36323124170303345},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3473513722419739},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09552052617073059}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8042930364608765},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.74118971824646},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6272045373916626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6029621362686157},{"id":"https://openalex.org/C2781214258","wikidata":"https://www.wikidata.org/wiki/Q917284","display_name":"Vine","level":2,"score":0.5916780829429626},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.503872811794281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4845842123031616},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4124215245246887},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36323124170303345},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3473513722419739},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09552052617073059},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10341377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/98665","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/98665","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/98665/5/IROS_2023_Soft_Cap_for_Eversion_Robots%20Accepted%20Version.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/98665","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/98665","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/98665/5/IROS_2023_Soft_Cap_for_Eversion_Robots%20Accepted%20Version.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G3739141303","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G3761795683","display_name":null,"funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320330083","display_name":"National Centre for Nuclear Robotics","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4389666224.pdf"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W2023222686","https://openalex.org/W2101667962","https://openalex.org/W2737491236","https://openalex.org/W2737666157","https://openalex.org/W2897701932","https://openalex.org/W2919013143","https://openalex.org/W2940265767","https://openalex.org/W2946871295","https://openalex.org/W2947164686","https://openalex.org/W2956230066","https://openalex.org/W3113191033","https://openalex.org/W3132227494","https://openalex.org/W3137862458","https://openalex.org/W3150627400","https://openalex.org/W3183244442","https://openalex.org/W3203023158","https://openalex.org/W3204387335","https://openalex.org/W3207860212","https://openalex.org/W4225157533","https://openalex.org/W4290708716"],"related_works":["https://openalex.org/W621131920","https://openalex.org/W2364991505","https://openalex.org/W2370449540","https://openalex.org/W2372885251","https://openalex.org/W2363458964","https://openalex.org/W2351981332","https://openalex.org/W1480946468","https://openalex.org/W2274976510","https://openalex.org/W4379531983","https://openalex.org/W2294241086"],"abstract_inverted_index":{"Growing":[0],"robots":[1,36],"based":[2],"on":[3],"the":[4,49,53,65,92,104,140,185,228,246,254],"eversion":[5,54,94],"principle":[6],"are":[7,77],"known":[8],"for":[9],"their":[10,18],"ability":[11,109,206,230],"to":[12,110,124,161,207,231,265],"extend":[13],"rapidly,":[14],"from":[15,175,184],"within,":[16],"along":[17],"longitudinal":[19],"axis,":[20],"and,":[21],"in":[22,166,204,263],"doing":[23],"so,":[24],"reach":[25],"deep":[26],"into":[27],"hitherto":[28],"inaccessible,":[29],"remote":[30],"spaces.":[31],"Despite":[32],"many":[33,97],"advantages,":[34],"vine":[35,143,172,186],"also":[37,225],"present":[38],"significant":[39],"challenges,":[40],"one":[41],"of":[42,58,72,142,149,151,168,178,214,248,256,267],"which":[43],"is":[44,202,212,242],"maintaining":[45],"sensory":[46],"payload":[47],"at":[48],"tip":[50,59,98,141],"without":[51],"restricting":[52],"process.":[55],"A":[56],"variety":[57],"mechanisms":[60],"have":[61],"been":[62],"proposed":[63],"by":[64,245],"robotics":[66],"community,":[67],"among":[68],"them":[69],"rounded":[70],"caps":[71,150],"relatively":[73],"complex":[74],"construction":[75],"that":[76,134,197,227],"not":[78],"always":[79],"compatible":[80],"with":[81,91],"functional":[82],"hardware,":[83],"such":[84,217],"as":[85,218],"sensors":[86],"or":[87],"navigation":[88],"pouches,":[89],"integrated":[90],"main":[93],"structure.":[95],"Moreover,":[96],"designs":[99],"incorporate":[100],"rigid":[101],"materials,":[102,155],"reducing":[103],"robot's":[105,229],"flexibility":[106,241],"and":[107,120,154,189,211,237,259],"consequent":[108],"navigate":[111],"through":[112,233],"narrow":[113],"openings.":[114],"Here,":[115],"we":[116,194],"address":[117],"these":[118],"shortcomings":[119],"propose":[121],"a":[122,127,147,219],"design":[123,165,258],"overcome":[125],"them:":[126],"soft,":[128,199],"entirely":[129],"fabric":[130],"based,":[131],"cylindrical":[132],"cap":[133,201],"can":[135,195],"easily":[136],"be":[137],"slipped":[138],"onto":[139],"robots.":[144],"Having":[145],"created":[146],"series":[148],"different":[152],"sizes":[153],"an":[156],"experimental":[157],"study":[158],"was":[159],"conducted":[160],"evaluate":[162],"our":[163,198,249],"new":[164],"terms":[167],"four":[169],"key":[170],"aspects:":[171],"robot":[173],"made":[174],"multiple":[176],"layers":[177],"everting":[179],"material,":[180],"solid":[181],"objects":[182],"protruding":[183],"robot,":[187],"squeezability,":[188],"navigability.":[190],"In":[191],"all":[192],"scenarios,":[193],"show":[196],"flexible":[200],"robust":[203],"its":[205,209,239,268],"maintain":[208],"position":[210],"capable":[213],"transporting":[215],"payloads":[216],"camera":[220],"across":[221],"long":[222],"distances.":[223],"We":[224],"demonstrate":[226],"move":[232],"restricted":[234],"aperture":[235],"openings":[236],"indeed":[238],"overall":[240],"virtually":[243],"unhindered":[244],"addition":[247],"cap.":[250],"The":[251],"paper":[252],"discusses":[253],"advantages":[255],"this":[257],"gives":[260],"further":[261],"recommendations":[262],"relation":[264],"aspects":[266],"engineering.":[269]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}