{"id":"https://openalex.org/W4415593758","doi":"https://doi.org/10.1109/lra.2025.3625507","title":"An End-to-End Framework for Modeling Pneumatic Soft Robots Based on Differentiable Finite Element Methods","display_name":"An End-to-End Framework for Modeling Pneumatic Soft Robots Based on Differentiable Finite Element Methods","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W4415593758","doi":"https://doi.org/10.1109/lra.2025.3625507"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3625507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625507","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/A5112244532","display_name":"Shaohong Zhong","orcid":"https://orcid.org/0009-0005-3335-9938"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shaohong Zhong","raw_affiliation_strings":["Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0009-0005-3335-9938","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389461","display_name":"Yao Yao","orcid":"https://orcid.org/0009-0007-5472-2200"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yao Yao","raw_affiliation_strings":["Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0009-0007-5472-2200","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7588-9567","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027013897","display_name":"Ingmar Posner","orcid":"https://orcid.org/0000-0001-6270-700X"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ingmar Posner","raw_affiliation_strings":["Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6270-700X","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210146410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210146410"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24697776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"12","first_page":"13003","last_page":"13010"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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":0.9983000159263611,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9968000054359436,"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"}},{"id":"https://openalex.org/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9958000183105469,"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/differentiable-function","display_name":"Differentiable function","score":0.6050999760627747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6036999821662903},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5945000052452087},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5055999755859375},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5013999938964844},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49239999055862427},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.4562000036239624},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.45080000162124634}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6560999751091003},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6050999760627747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6036999821662903},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5945000052452087},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5246000289916992},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5055999755859375},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5013999938964844},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49239999055862427},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.4562000036239624},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.45080000162124634},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4169999957084656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40610000491142273},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3921999931335449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37959998846054077},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3458999991416931},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.33880001306533813},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.3319000005722046},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.32100000977516174},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31360000371932983},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.3021000027656555},{"id":"https://openalex.org/C140073362","wikidata":"https://www.wikidata.org/wiki/Q738759","display_name":"Soft computing","level":3,"score":0.2858999967575073},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2754000127315521},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26109999418258667},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3625507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625507","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1605573896","https://openalex.org/W2063797945","https://openalex.org/W2079574144","https://openalex.org/W2097770951","https://openalex.org/W2269603919","https://openalex.org/W2525386719","https://openalex.org/W2556078315","https://openalex.org/W2589720224","https://openalex.org/W2782435507","https://openalex.org/W2784648116","https://openalex.org/W2786905609","https://openalex.org/W2791693147","https://openalex.org/W2923438774","https://openalex.org/W2968328831","https://openalex.org/W3003257820","https://openalex.org/W3110084462","https://openalex.org/W3140906301","https://openalex.org/W3163328464","https://openalex.org/W3175955419","https://openalex.org/W3204719635","https://openalex.org/W4200428696","https://openalex.org/W4213447533","https://openalex.org/W4220786088","https://openalex.org/W4285149089","https://openalex.org/W4312648860","https://openalex.org/W4312891659","https://openalex.org/W4390964714","https://openalex.org/W4391555757","https://openalex.org/W4391980449","https://openalex.org/W4414079057"],"related_works":[],"abstract_inverted_index":{"Soft":[0],"robots":[1],"present":[2],"significant":[3],"modelling":[4,24,33,87,177,197],"challenges":[5],"due":[6],"to":[7,85],"their":[8,26],"non-linearity,":[9],"complex":[10,179],"dynamics":[11,23,168],"and":[12,22,62,71,88,124,144,169,184,209,218],"potentially":[13],"intricate":[14],"geometries.":[15],"These":[16],"difficulties":[17],"in":[18,28,39,188,212],"accurate":[19],"system":[20,89],"identification":[21,90,141],"limit":[25],"applications":[27],"precise":[29,140],"robotics":[30],"tasks.":[31,103,192],"Prior":[32],"approaches":[34],"typically":[35],"suffer":[36],"from":[37,166],"trade-offs":[38],"accuracy,":[40,198],"computational":[41],"efficiency,":[42],"or":[43],"speed.":[44],"The":[45,104],"differentiable":[46,81,135,155],"finite":[47],"element":[48],"method":[49],"(FEM)":[50],"offers":[51],"a":[52,149,178,200],"promising":[53],"balance":[54],"between":[55],"these":[56],"desiderata":[57],"for":[58,68,91,101],"soft":[59,93,182],"robot":[60,167,183],"modelling,":[61],"enables":[63],"the":[64,96,107,121,137,154,158,174],"use":[65],"of":[66,98,109,142,157,204],"gradients":[67,165],"efficient":[69],"calibration":[70],"trajectory":[72,161],"optimisation.":[73],"In":[74],"this":[75],"paper,":[76],"we":[77],"propose":[78],"an":[79],"end-to-end":[80],"FEM-based":[82],"framework":[83,105,138,175],"designed":[84],"streamline":[86],"pneumatic":[92,181],"robots,":[94],"enabling":[95],"generation":[97],"reliable":[99],"models":[100],"downstream":[102],"automates":[106],"conversion":[108],"computer-aided":[110],"designs":[111],"into":[112],"voxelised":[113],"tetrahedral":[114],"viscoelastic":[115],"FEM":[116],"meshes":[117],"that":[118],"accurately":[119],"represent":[120],"robot's":[122],"geometry":[123],"actuation":[125,146],"mechanism.":[126],"By":[127],"integrating":[128],"easily":[129],"acquired":[130],"point":[131],"cloud":[132],"data":[133],"with":[134,199],"FEM,":[136],"achieves":[139],"material":[143],"dynamic":[145],"parameters":[147],"using":[148],"minimal":[150],"experimental":[151],"setup.":[152],"Additionally,":[153],"nature":[156],"model":[159],"facilitates":[160],"optimisation":[162],"by":[163,176],"leveraging":[164],"contact":[170],"interactions.":[171],"We":[172],"validate":[173],"bellow-shaped":[180],"demonstrate":[185],"its":[186],"efficacy":[187],"real-world":[189],"motion":[190],"planning":[191],"Experimental":[193],"results":[194],"indicate":[195],"high":[196],"maximum":[201],"positional":[202],"error":[203],"less":[205],"than":[206],"3":[207],"mm,":[208],"successful":[210],"application":[211],"tasks":[213],"such":[214],"as":[215],"path":[216],"following":[217],"grasping.":[219]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-28T00:00:00"}