{"id":"https://openalex.org/W4366147773","doi":"https://doi.org/10.1109/lra.2023.3268016","title":"A Framework for Simulation of Magnetic Soft Robots Using the Material Point Method","display_name":"A Framework for Simulation of Magnetic Soft Robots Using the Material Point Method","publication_year":2023,"publication_date":"2023-04-17","ids":{"openalex":"https://openalex.org/W4366147773","doi":"https://doi.org/10.1109/lra.2023.3268016"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3268016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3268016","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/A5005141883","display_name":"Joshua Davy","orcid":"https://orcid.org/0000-0001-9483-111X"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Joshua Davy","raw_affiliation_strings":["STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053415083","display_name":"Peter Lloyd","orcid":"https://orcid.org/0000-0002-4927-071X"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peter Lloyd","raw_affiliation_strings":["STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018926020","display_name":"James H. Chandler","orcid":"https://orcid.org/0000-0001-9232-4966"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James H. Chandler","raw_affiliation_strings":["STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K"],"affiliations":[{"raw_affiliation_string":"STORM Lab, School of Electronic and Electrical Engineering, Institute of Autonomous Systems and Sensing, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5005141883"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":3.7602,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.93799692,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"8","issue":"6","first_page":"3470","last_page":"3477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9950000047683716,"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9760000109672546,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.7869296669960022},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.761223316192627},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.5825406312942505},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5732130408287048},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5108335018157959},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4915960729122162},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.42632368206977844},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.4172601103782654},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.353921115398407},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3521430492401123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.324098140001297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2558472156524658},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2351343035697937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17042401432991028},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15963813662528992}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7869296669960022},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.761223316192627},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.5825406312942505},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5732130408287048},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5108335018157959},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4915960729122162},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.42632368206977844},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.4172601103782654},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.353921115398407},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3521430492401123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.324098140001297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2558472156524658},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2351343035697937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17042401432991028},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15963813662528992},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3268016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3268016","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"},{"id":"pmh:oai:eprints.whiterose.ac.uk:198429","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5602145593","display_name":null,"funder_award_id":"EP/R045291/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2022831420","https://openalex.org/W2162410491","https://openalex.org/W2469863283","https://openalex.org/W2785110060","https://openalex.org/W2799721435","https://openalex.org/W2810873357","https://openalex.org/W2891326594","https://openalex.org/W2896049741","https://openalex.org/W2896050657","https://openalex.org/W2941931973","https://openalex.org/W2968042644","https://openalex.org/W2971278234","https://openalex.org/W2977371611","https://openalex.org/W3015628679","https://openalex.org/W3111240581","https://openalex.org/W3118427713","https://openalex.org/W3134682377","https://openalex.org/W3183808194","https://openalex.org/W3198308957","https://openalex.org/W3214030937","https://openalex.org/W3216469989","https://openalex.org/W4210818687","https://openalex.org/W4221032282","https://openalex.org/W4226075646","https://openalex.org/W4288370359","https://openalex.org/W4293255699","https://openalex.org/W4293371082","https://openalex.org/W4307131920","https://openalex.org/W4313347125","https://openalex.org/W6755141795"],"related_works":["https://openalex.org/W1553869462","https://openalex.org/W3119152702","https://openalex.org/W1585494168","https://openalex.org/W3140486956","https://openalex.org/W2790471110","https://openalex.org/W2990736200","https://openalex.org/W2360661724","https://openalex.org/W1233741067","https://openalex.org/W2363461234","https://openalex.org/W3011917810"],"abstract_inverted_index":{"Simulation":[0],"represents":[1],"a":[2,89,196],"key":[3],"aspect":[4],"in":[5,69,142,206],"the":[6,34,54,73,97,108,122,133,138,148,151,156,187,207],"development":[7],"of":[8,16,36,63,132,140,150,158,168,179,189,198],"robot":[9,23,202],"systems.":[10],"The":[11],"ability":[12,149],"to":[13,33,72,116,154,195],"simulate":[14],"behavior":[15,167],"real-world":[17,199],"robots":[18,44,95,169],"provides":[19],"an":[20,176],"environment":[21],"where":[22],"designs":[24,203],"can":[25,45,136],"be":[26,46],"developed":[27],"and":[28,49,60,78,82,135,174],"control":[29],"systems":[30],"optimized.":[31],"Due":[32],"use":[35],"external":[37,61,113],"magnetic":[38,42,57,64,79,93,109,144,159,162,172,200],"fields":[39,65],"for":[40,92],"actuation,":[41],"soft":[43,58,94,163,201],"wirelessly":[47],"controlled":[48],"are":[50],"easily":[51],"miniaturized.":[52],"However,":[53],"relationship":[55,74],"between":[56,75,130],"materials":[59],"sources":[62],"present":[66,88],"significant":[67],"complexities":[68],"modelling":[70],"due":[71],"material":[76,105],"elasticity":[77],"wrench":[80,110,160],"(forces":[81],"torques).":[83],"In":[84],"this":[85],"work,":[86],"we":[87],"simulation":[90],"framework":[91,126,153,191],"using":[96],"Material":[98],"Point":[99],"Method":[100],"(MPM)":[101],"which":[102],"integrates":[103],"hyper-elastic":[104],"models":[106,128],"with":[107,183],"induced":[111],"under":[112,170],"fields.":[114,145],"Compared":[115],"existing":[117],"Finite":[118],"Element":[119],"Methods":[120],"(FEM),":[121],"presented":[123,205],"MPM":[124,152,190],"based":[125],"inherently":[127],"self-collision":[129],"areas":[131],"model":[134,155],"capture":[137,165],"effect":[139],"forces":[141],"non-homogeneous":[143],"We":[146,185],"demonstrate":[147],"influence":[157],"on":[161],"robots,":[164],"dynamic":[166],"time-varying":[171],"fields,":[173],"provide":[175],"accurate":[177],"representation":[178],"deformation":[180],"when":[181],"colliding":[182],"obstacles.":[184],"show":[186],"versatility":[188],"by":[192],"comparing":[193],"simulations":[194],"range":[197],"previously":[204],"literature.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}