{"id":"https://openalex.org/W2291601505","doi":"https://doi.org/10.1109/robio.2015.7418817","title":"Enabling earthworm-like soft robot development using bioinspired IPMC-scissor lift actuation structures: Design, locomotion simulation and experimental validation","display_name":"Enabling earthworm-like soft robot development using bioinspired IPMC-scissor lift actuation structures: Design, locomotion simulation and experimental validation","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291601505","doi":"https://doi.org/10.1109/robio.2015.7418817","mag":"2291601505"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5074828438","display_name":"Sanku Niu","orcid":"https://orcid.org/0000-0002-3563-3874"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Sanku Niu","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China","University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026860187","display_name":"Yudong Luo","orcid":"https://orcid.org/0000-0002-1157-5737"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yudong Luo","raw_affiliation_strings":["University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037082910","display_name":"Yantao Shen","orcid":"https://orcid.org/0000-0003-0733-6407"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yantao Shen","raw_affiliation_strings":["University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100744346","display_name":"Kwang J. Kim","orcid":"https://orcid.org/0000-0003-2134-4964"},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kwang J. Kim","raw_affiliation_strings":["University of Nevada, Las Vegas, NV, USA"],"affiliations":[{"raw_affiliation_string":"University of Nevada, Las Vegas, NV, USA","institution_ids":["https://openalex.org/I133999245"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074828438"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I134113660"],"apc_list":null,"apc_paid":null,"fwci":0.7081,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.71904137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"499","last_page":"504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9995999932289124,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9976999759674072,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7386407256126404},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7235828638076782},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.6408955454826355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.540470540523529},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5400183796882629},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5369763970375061},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5028530955314636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3507540225982666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1544547975063324}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7386407256126404},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7235828638076782},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.6408955454826355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.540470540523529},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5400183796882629},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5369763970375061},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5028530955314636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3507540225982666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1544547975063324},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W61897533","https://openalex.org/W279337373","https://openalex.org/W1985096245","https://openalex.org/W1987501760","https://openalex.org/W2045778737","https://openalex.org/W2107609832","https://openalex.org/W2575512099","https://openalex.org/W6602473130","https://openalex.org/W6610072421"],"related_works":["https://openalex.org/W2012995867","https://openalex.org/W2410775454","https://openalex.org/W3015582614","https://openalex.org/W2765495093","https://openalex.org/W3123515255","https://openalex.org/W102508450","https://openalex.org/W2275441459","https://openalex.org/W4230505810","https://openalex.org/W2581074659","https://openalex.org/W2567750182"],"abstract_inverted_index":{"The":[0,11,28],"paper":[1],"parents":[2],"our":[3,157],"recent":[4],"development":[5],"on":[6,92,138,164],"the":[7,24,41,44,52,59,63,66,80,85,93,124,152,165,171,179],"earthworm-like":[8,176],"soft":[9,130],"robot.":[10],"robot":[12,53,87,131,177],"is":[13,162],"designed":[14,129,141,180],"through":[15],"combination":[16],"of":[17,58,65,102,106,127,140,156,170],"smart":[18],"electro-active":[19],"polymer":[20],"(EAP)":[21],"materials":[22],"and":[23,89,109,145,148,154,168,174],"efficient":[25],"expandable":[26],"structure.":[27],"employed":[29],"EAP":[30],"material,":[31],"called":[32],"ionic":[33],"polymer-metal":[34],"composite":[35],"(IPMC)":[36],"that":[37,100],"can":[38],"directly":[39],"provide":[40],"actuation":[42,181],"to":[43,50,54,122],"expendable":[45,110],"scissor-lift":[46],"structure,":[47],"so":[48],"as":[49],"enable":[51],"mimic":[55],"locomotion":[56,98,125],"mechanism":[57],"earthworm.":[60],"To":[61],"reach":[62],"goal":[64],"project,":[67],"in":[68,84,120],"this":[69],"paper,":[70],"we":[71],"firstly":[72],"developed":[73],"a":[74],"high":[75],"performance":[76],"IPMC":[77,81,107],"driver":[78],"for":[79],"actuators":[82,108],"embedded":[83],"mimicking":[86],"system,":[88],"then":[90],"based":[91],"proposed":[94],"three":[95,128],"2-D":[96],"earthwormlike":[97],"structures":[99,142],"consist":[101],"different":[103],"complex":[104],"forms":[105],"lift-scissor":[111],"structures,":[112],"several":[113],"peristaltic":[114],"motion":[115],"behavior":[116],"simulations":[117],"were":[118],"conducted":[119],"order":[121],"compare":[123],"advantages":[126],"structures.":[132],"In":[133],"addition,":[134],"preliminary":[135],"experimental":[136,149],"results":[137,150],"one":[139],"are":[143],"demonstrated":[144],"all":[146],"simulation":[147],"validate":[151],"feasibility":[153],"effectiveness":[155],"biomimetic":[158],"design.":[159],"Ongoing":[160],"work":[161],"focusing":[163],"dynamic":[166],"modeling":[167],"control":[169],"more":[172],"segmented":[173],"dimensional":[175],"using":[178],"mechanism.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-01-08T20:05:33.558190","created_date":"2025-10-10T00:00:00"}
