{"id":"https://openalex.org/W3216110951","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605376","title":"Quasi-static Optimal Design of a Pneumatic Soft Robot to Maximize Pressure-to-Force Transference","display_name":"Quasi-static Optimal Design of a Pneumatic Soft Robot to Maximize Pressure-to-Force Transference","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3216110951","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605376","mag":"3216110951"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5012123044","display_name":"Carlos-Ernesto Vazquez-Garcia","orcid":"https://orcid.org/0000-0002-1405-2675"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Carlos-Ernesto Vazquez-Garcia","raw_affiliation_strings":["Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087114686","display_name":"Christian-Alejandro Trejo-Ramos","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Christian-Alejandro Trejo-Ramos","raw_affiliation_strings":["Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Vicente Parra-Vega","raw_affiliation_strings":["Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053105506","display_name":"Ernesto Olgu\u00edn-D\u00edaz","orcid":"https://orcid.org/0000-0001-9721-191X"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Ernesto Olguin-Diaz","raw_affiliation_strings":["Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saltillo Campus, Robotics and Advanced Manufacturing Group at the Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":2.8998,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.91898514,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"126","last_page":"131"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9961000084877014,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9950000047683716,"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":0.6187545657157898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5654206275939941},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3494041860103607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14072152972221375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06754469871520996}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6187545657157898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5654206275939941},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3494041860103607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14072152972221375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06754469871520996}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1613131328","https://openalex.org/W2027454283","https://openalex.org/W2140633495","https://openalex.org/W2160229137","https://openalex.org/W2589689440","https://openalex.org/W2716445324","https://openalex.org/W2782435507","https://openalex.org/W2911001812","https://openalex.org/W2947733861","https://openalex.org/W2996263959","https://openalex.org/W3036539407","https://openalex.org/W3094602192"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,101,161],"design":[1,130,193,220,263],"of":[2,11,19,56,66,75,96,117,138,142,153,192,215,224,227,229,253,261,276],"a":[3,8,51,57,107,119,165,180,184,236,250],"pneumatic":[4,60,76,175],"soft":[5,61,155,265],"robot":[6,62,156],"represents":[7],"challenging":[9],"problem":[10],"multidisciplinary":[12],"nature":[13],"due":[14],"to":[15,25,63,71,105,131,157,200,222],"the":[16,32,39,43,67,73,90,112,136,139,150,154,158,170,190,209,230,246,259,274],"blurred":[17],"domain":[18],"its":[20,35],"components,":[21],"which":[22],"gives":[23],"rise":[24],"complex":[26],"coupled":[27],"nonlinear":[28],"dynamic":[29,54],"models":[30],"(of":[31],"body":[33],"and":[34,94,183,212],"input":[36,68],"matrix),":[37],"wherein":[38],"actuator":[40,205],"is":[41,104,198,255],"itself":[42],"deformable":[44],"robot.":[45],"In":[46],"this":[47,123,277],"paper,":[48],"we":[49,125,148],"consider":[50,127],"continuum":[52],"Lagrangian":[53],"model":[55],"3":[58],"DoF":[59],"address":[64],"optimization":[65],"matrix":[69],"B(q)":[70],"maximize":[72],"transfer":[74],"pressure":[77,99,176,216],"field":[78],"p":[79],"control":[80],"into":[81],"generalized":[82],"torque":[83],"τ":[84,86],"since":[85],"=":[87],"B(q)p,":[88],"given":[89,108,178,237],"desired":[91,113,159,181,185],"behaviour,":[92],"shape":[93],"topology":[95,214],"actuators":[97],"(embedded":[98],"chambers).":[100],"byproduct":[102],"aim":[103],"achieve":[106],"behaviour":[109],"(coded":[110],"as":[111,240],"configuration)":[114],"with":[115,173],"less":[116,174],"such":[118],"pressure.":[120,160,186],"To":[121],"satisfy":[122],"objective,":[124],"firstly":[126],"quasi-static":[128],"optimal":[129,219,262],"yield":[132],"geometric":[133,206],"parameters":[134],"from":[135],"maximization":[137],"spectral":[140],"norm":[141],"B(q),":[143],"for":[144,164,235,264],"state":[145],"q;":[146],"then,":[147],"parameterize":[149],"initial":[151],"length":[152],"result":[162],"stands":[163],"novel":[166],"methodology":[167],"that":[168,196],"guarantees":[169],"regulation":[171,238],"task":[172],"control,":[177],"both":[179],"configuration":[182],"Comparative":[187],"simulation":[188],"illustrates":[189],"advantages":[191],"optimization,":[194],"showing":[195],"it":[197,241],"instrumental":[199],"handle":[201],"energy":[202],"efficiency":[203],"through":[204],"variables,":[207],"i.e.":[208],"internal":[210,213],"dimensions":[211],"chambers.":[217],"Remarkably,":[218],"leads":[221],"improvement":[223],"several":[225],"orders":[226],"magnitude":[228],"pressure-force":[231],"transference":[232],"ratio":[233],"∥τ∥/∥p∥,":[234],"error,":[239],"can":[242],"be":[243],"observed":[244],"in":[245,273,282],"case":[247],"study,":[248],"where":[249],"maximum":[251],"increase":[252],"86-fold":[254],"obtained.":[256],"This":[257],"highlights":[258],"importance":[260],"robot,":[266],"an":[267],"issue":[268],"surprisingly":[269],"neglected":[270],"so":[271],"far":[272],"literature":[275],"highly":[278],"cited":[279],"new":[280],"topic":[281],"robotics.":[283]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}