{"id":"https://openalex.org/W2783608040","doi":"https://doi.org/10.1109/lra.2018.2793303","title":"A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas","display_name":"A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas","publication_year":2018,"publication_date":"2018-01-15","ids":{"openalex":"https://openalex.org/W2783608040","doi":"https://doi.org/10.1109/lra.2018.2793303","mag":"2783608040"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2793303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2793303","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5034706353","display_name":"Laura H. Blumenschein","orcid":"https://orcid.org/0000-0003-0658-5364"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Laura H. Blumenschein","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0658-5364","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088553363","display_name":"Lucia T. Gan","orcid":"https://orcid.org/0000-0003-4507-4217"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lucia T. Gan","raw_affiliation_strings":["Department of Electrical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4507-4217","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074787051","display_name":"Jonathan A. Fan","orcid":"https://orcid.org/0000-0001-9816-9979"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan A. Fan","raw_affiliation_strings":["Department of Electrical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9816-9979","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6912-1666","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot W. Hawkes","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0420-5025","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034706353"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":6.6635,"has_fulltext":false,"cited_by_count":101,"citation_normalized_percentile":{"value":0.97474376,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"3","issue":"2","first_page":"949","last_page":"956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"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":0.9955999851226807,"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":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reconfigurable-antenna","display_name":"Reconfigurable antenna","score":0.6712858080863953},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.5406128764152527},{"id":"https://openalex.org/keywords/reconfigurability","display_name":"Reconfigurability","score":0.512257993221283},{"id":"https://openalex.org/keywords/antenna-measurement","display_name":"Antenna measurement","score":0.5065494775772095},{"id":"https://openalex.org/keywords/monopole-antenna","display_name":"Monopole antenna","score":0.47890129685401917},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4320601224899292},{"id":"https://openalex.org/keywords/dipole-antenna","display_name":"Dipole antenna","score":0.4093157947063446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40071913599967957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.386848509311676},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.3738887906074524},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.3691927194595337},{"id":"https://openalex.org/keywords/coaxial-antenna","display_name":"Coaxial antenna","score":0.3563641905784607},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1668536365032196}],"concepts":[{"id":"https://openalex.org/C131369404","wikidata":"https://www.wikidata.org/wiki/Q7554278","display_name":"Reconfigurable antenna","level":5,"score":0.6712858080863953},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.5406128764152527},{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.512257993221283},{"id":"https://openalex.org/C158616128","wikidata":"https://www.wikidata.org/wiki/Q4771260","display_name":"Antenna measurement","level":3,"score":0.5065494775772095},{"id":"https://openalex.org/C95496425","wikidata":"https://www.wikidata.org/wiki/Q1466248","display_name":"Monopole antenna","level":3,"score":0.47890129685401917},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4320601224899292},{"id":"https://openalex.org/C113145756","wikidata":"https://www.wikidata.org/wiki/Q1126859","display_name":"Dipole antenna","level":3,"score":0.4093157947063446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40071913599967957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.386848509311676},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3738887906074524},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3691927194595337},{"id":"https://openalex.org/C93130614","wikidata":"https://www.wikidata.org/wiki/Q5138671","display_name":"Coaxial antenna","level":4,"score":0.3563641905784607},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1668536365032196}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2793303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2793303","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6000000238418579,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W853268249","https://openalex.org/W1498332621","https://openalex.org/W1515749184","https://openalex.org/W1972220987","https://openalex.org/W1982686915","https://openalex.org/W1987401014","https://openalex.org/W2020498814","https://openalex.org/W2032314010","https://openalex.org/W2035885296","https://openalex.org/W2048678699","https://openalex.org/W2110001807","https://openalex.org/W2118655703","https://openalex.org/W2145375400","https://openalex.org/W2157426451","https://openalex.org/W2159005576","https://openalex.org/W2159188843","https://openalex.org/W2160238395","https://openalex.org/W2165479823","https://openalex.org/W2418282907","https://openalex.org/W2734595964","https://openalex.org/W2736778426","https://openalex.org/W2737491236","https://openalex.org/W3102655131","https://openalex.org/W4300911282"],"related_works":["https://openalex.org/W3177375528","https://openalex.org/W3203277562","https://openalex.org/W1520934706","https://openalex.org/W1881182526","https://openalex.org/W4386189536","https://openalex.org/W3025289034","https://openalex.org/W2054726947","https://openalex.org/W1562202187","https://openalex.org/W4312367040","https://openalex.org/W2167949912"],"abstract_inverted_index":{"Antennas":[0],"are":[1],"essential":[2],"in":[3,148,178,207],"wireless":[4],"communications":[5],"and":[6,13,15,32,39,44,82,171,190,200,212,221],"powering":[7],"systems.":[8],"Applications,":[9],"such":[10],"as":[11,24,26,126,146],"search":[12],"rescue":[14],"space":[16],"exploration":[17],"would":[18],"greatly":[19],"benefit":[20],"from":[21,29,104,141,166],"antenna":[22,27,46,57,80,87,97,124,143,155,202,211],"reconfigurability,":[23],"well":[25],"deployment":[28,81],"a":[30,42,49,64,70,90,95,105,127,149,160,208,225],"compact":[31],"easy-to-transport":[33],"form.":[34],"We":[35,182],"present":[36],"the":[37,55,113,120,123,130,142,154,186,215],"design":[38,98],"analysis":[40],"of":[41,116,122,188,217],"reconfigurable":[43],"deployable":[45],"that":[47,99,108,164,185],"uses":[48,100],"growing":[50],"soft":[51],"robot":[52,67,74],"to":[53,78,85,118,152,168,196],"form":[54],"three-dimensional":[56],"structure.":[58],"Our":[59,157],"approach":[60],"is":[61,109,205],"based":[62],"on":[63],"pneumatic":[65,222],"tip-extending":[66],"instrumented":[68],"with":[69,224],"conducting":[71,101],"element.":[72],"The":[73],"increases":[75],"its":[76],"length":[77,121],"enable":[79,86],"changes":[83],"shape":[84],"reconfiguration.":[88],"As":[89],"model":[91,209,226],"system,":[92],"we":[93,213],"demonstrate":[94],"monopole":[96,158],"elements":[102],"formed":[103],"copper":[106],"strip":[107],"mechanically":[110],"disconnected":[111],"at":[112],"leading":[114],"edge":[115],"growth":[117],"change":[119,129],"and,":[125],"result,":[128],"resonant":[131],"frequency.":[132],"To":[133],"achieve":[134],"desired":[135],"operating":[136],"frequencies,":[137],"return":[138],"loss":[139],"data":[140],"was":[144],"used":[145,195],"feedback":[147],"closed-loop":[150],"system":[151],"control":[153],"configuration.":[156],"supports":[159],"frequency":[161],"tuning":[162],"range":[163],"spans":[165],"0.4":[167],"2":[169],"GHz":[170],"can":[172,193],"tune":[173],"between":[174],"two":[175],"target":[176],"frequencies":[177],"approximately":[179],"one":[180],"second.":[181],"also":[183],"show":[184],"addition":[187],"branching":[189],"integrated":[191],"actuators":[192,220,223],"be":[194],"generate":[197],"more":[198],"complex":[199],"diverse":[201],"shapes.":[203],"Branching":[204],"implemented":[206],"Yagi-Uda":[210],"explore":[214],"integration":[216],"pull":[218],"cable":[219],"helical":[227],"antenna.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3}],"updated_date":"2026-05-10T08:33:47.465468","created_date":"2025-10-10T00:00:00"}