{"id":"https://openalex.org/W2051450821","doi":"https://doi.org/10.1109/robio.2014.7090301","title":"Locomotion modeling of an actinomorphic soft robot actuated by SMA springs","display_name":"Locomotion modeling of an actinomorphic soft robot actuated by SMA springs","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2051450821","doi":"https://doi.org/10.1109/robio.2014.7090301","mag":"2051450821"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5000653817","display_name":"Hu Jin","orcid":"https://orcid.org/0000-0002-3108-875X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hu Jin","raw_affiliation_strings":["Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091526893","display_name":"Erbao Dong","orcid":"https://orcid.org/0000-0002-4062-9730"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Erbao Dong","raw_affiliation_strings":["Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009680322","display_name":"Shixin Mao","orcid":"https://orcid.org/0009-0000-9208-9935"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shixin Mao","raw_affiliation_strings":["Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100980116","display_name":"Min Xu","orcid":"https://orcid.org/0000-0002-0509-9105"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Xu","raw_affiliation_strings":["Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100404947","display_name":"Jie Yang","orcid":"https://orcid.org/0000-0003-4801-7162"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Yang","raw_affiliation_strings":["Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui province, 230026, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"6096","issue":null,"first_page":"21","last_page":"26"},"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":0.9986000061035156,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7244122624397278},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6061028242111206},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5656659603118896},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.5122169852256775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45606788992881775},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4503461718559265},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4438459575176239},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44222691655158997},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3876160979270935},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38045522570610046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36570245027542114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27408379316329956},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22953420877456665},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13096177577972412},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07186621427536011}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7244122624397278},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6061028242111206},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5656659603118896},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.5122169852256775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45606788992881775},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4503461718559265},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4438459575176239},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44222691655158997},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3876160979270935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38045522570610046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36570245027542114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27408379316329956},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22953420877456665},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13096177577972412},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07186621427536011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1602074088","https://openalex.org/W1898188031","https://openalex.org/W1973429912","https://openalex.org/W1985060396","https://openalex.org/W1986717340","https://openalex.org/W2001256895","https://openalex.org/W2010745100","https://openalex.org/W2024908559","https://openalex.org/W2025613329","https://openalex.org/W2063797945","https://openalex.org/W2079799414","https://openalex.org/W2083779280","https://openalex.org/W2096645690","https://openalex.org/W2098198681","https://openalex.org/W2101132776","https://openalex.org/W2101667962","https://openalex.org/W2112248299","https://openalex.org/W2122090762","https://openalex.org/W2131560012","https://openalex.org/W2132845589","https://openalex.org/W2135485145","https://openalex.org/W2162352279","https://openalex.org/W2614225762","https://openalex.org/W2796146964","https://openalex.org/W4388384770","https://openalex.org/W6857621415"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"The":[0,34,78],"article":[1],"introduces":[2],"an":[3],"actinomorphic":[4,82,119],"soft":[5],"robot":[6,23,35,55,63,75,83,92,99,103,120,137],"that":[7],"possesses":[8],"a":[9,13,66,116],"flattened":[10],"body":[11],"with":[12],"number":[14],"of":[15,39,81,115,129],"arms":[16],"radially":[17,28],"symmetric":[18,29],"distributing":[19],"and":[20,41,102,113,123,132],"extending":[21],"from":[22],"central":[24],"disc.":[25],"Hence,":[26],"mimicking":[27],"musculature":[30],"animals":[31],"like":[32],"starfish.":[33],"arm":[36,40,118],"system,":[37],"consisted":[38],"smart":[42],"material":[43],"alloy":[44],"(SMA)":[45],"springs":[46],"is":[47],"the":[48,54,74,111,136],"support":[49],"structure":[50],"as":[51,53,65],"well":[52],"propulsion":[56],"device.":[57],"A":[58],"novel":[59],"approach":[60],"which":[61,134],"regards":[62],"movement":[64,130],"spatial":[67],"close-chain":[68],"mechanism":[69],"was":[70,84],"applied":[71],"to":[72],"analyze":[73],"locomotion":[76,79,100,127,138],"modal.":[77],"model":[80,139],"built":[85],"in":[86],"virtual":[87],"platform":[88],"by":[89],"synthesizing":[90],"forward":[91],"kinematics":[93],"using":[94],"modified":[95],"Denavit-Hartenberg":[96],"(D-H)":[97],"method,":[98],"modal":[101],"motion":[104],"equations":[105],"under":[106],"quasi-static":[107],"approximation.":[108],"At":[109],"last,":[110],"experiment":[112],"simulation":[114],"three":[117],"were":[121],"conducted,":[122],"they":[124],"presented":[125],"similar":[126],"characteristics":[128],"rhythm":[131],"direction":[133],"prove":[135],"available.":[140]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
