{"id":"https://openalex.org/W4226003966","doi":"https://doi.org/10.1109/robio54168.2021.9739488","title":"Modeling the Soft Continuum Robot Based on Large Deflection Theorem","display_name":"Modeling the Soft Continuum Robot Based on Large Deflection Theorem","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226003966","doi":"https://doi.org/10.1109/robio54168.2021.9739488"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739488","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5055517816","display_name":"Manrong Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Manrong Wang","raw_affiliation_strings":["Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035285684","display_name":"Wenbiao Wang","orcid":"https://orcid.org/0000-0003-4944-764X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbiao Wang","raw_affiliation_strings":["Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101556972","display_name":"Zhiwei Qiu","orcid":"https://orcid.org/0000-0002-4589-7400"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Qiu","raw_affiliation_strings":["Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065549914","display_name":"Jinfeng Zhao","orcid":"https://orcid.org/0000-0003-1751-6858"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinfeng Zhao","raw_affiliation_strings":["Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067178634","display_name":"Changqu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changqu Wu","raw_affiliation_strings":["Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108659202","display_name":"Shibo Cai","orcid":"https://orcid.org/0000-0003-0174-3300"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shibo Cai","raw_affiliation_strings":["Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044870800","display_name":"Guanjun Bao","orcid":"https://orcid.org/0000-0002-7184-3510"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanjun Bao","raw_affiliation_strings":["Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5055517816"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":0.3844,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54818042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"22","issue":null,"first_page":"209","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9690999984741211,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.957099974155426,"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/deflection","display_name":"Deflection (physics)","score":0.8040809631347656},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6795783638954163},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6435327529907227},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.5413799285888672},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.48178789019584656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3870745301246643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37827202677726746},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3714941740036011},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.36325281858444214},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3542594015598297},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.34874194860458374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3392709195613861},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3335641026496887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18787583708763123}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.8040809631347656},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6795783638954163},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6435327529907227},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.5413799285888672},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.48178789019584656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3870745301246643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37827202677726746},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3714941740036011},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.36325281858444214},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3542594015598297},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.34874194860458374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3392709195613861},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3335641026496887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18787583708763123},{"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/robio54168.2021.9739488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739488","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1902605501","https://openalex.org/W1987862454","https://openalex.org/W2014036400","https://openalex.org/W2055466277","https://openalex.org/W2086933202","https://openalex.org/W2096645690","https://openalex.org/W2098768009","https://openalex.org/W2101797976","https://openalex.org/W2119531408","https://openalex.org/W2122398245","https://openalex.org/W2124540383","https://openalex.org/W2135485145","https://openalex.org/W2137670317","https://openalex.org/W2152205882","https://openalex.org/W2166094622","https://openalex.org/W2236954786","https://openalex.org/W2284390012","https://openalex.org/W2334110889","https://openalex.org/W2495535193","https://openalex.org/W2577404187","https://openalex.org/W2605807134","https://openalex.org/W2605901533","https://openalex.org/W2626071037","https://openalex.org/W2728251804","https://openalex.org/W2804537022","https://openalex.org/W2806185962","https://openalex.org/W2883996957","https://openalex.org/W2897701914","https://openalex.org/W3103555692"],"related_works":["https://openalex.org/W2356120996","https://openalex.org/W2089273937","https://openalex.org/W4285470395","https://openalex.org/W2083066341","https://openalex.org/W2526555730","https://openalex.org/W4390617831","https://openalex.org/W4295648183","https://openalex.org/W4389667349","https://openalex.org/W4296405816","https://openalex.org/W932126808"],"abstract_inverted_index":{"How":[0],"to":[1,61,89],"model":[2,31,86,124],"the":[3,7,38,55,62,77,81,91,96,98,102,108,115,119,123],"dynamics":[4],"and":[5,14,66,118],"represent":[6],"behavior":[8],"of":[9,54,76,101,122],"soft":[10,27,40,82,103],"continuum":[11,28,41,104],"robot":[12,29,42,84,105],"accurately":[13],"efficiently":[15],"has":[16],"always":[17],"been":[18],"a":[19,25,46,67],"challenging":[20],"problem.":[21],"In":[22,95],"this":[23],"paper,":[24],"new":[26],"dynamic":[30],"modeling":[32],"idea":[33],"is":[34,43,59,71,87],"proposed,":[35],"that":[36],"is,":[37],"pneumatic":[39],"regarded":[44],"as":[45],"variable-stiffness":[47,56,78],"beam":[48,57],"structure":[49,58],"when":[50],"bending.":[51],"The":[52],"stiffness":[53],"related":[60],"input":[63],"air":[64],"pressure,":[65],"large":[68],"deflection":[69,92],"theorem":[70],"employed":[72],"for":[73],"force":[74],"analysis":[75],"beam.":[79],"Finally,":[80],"continuous":[83],"pressure":[85],"used":[88],"solve":[90],"curve":[93],"equation.":[94],"experiment,":[97],"bending":[99],"posture":[100],"obtained":[106],"by":[107],"visual":[109],"capture":[110],"system":[111],"was":[112,125],"compared":[113],"with":[114],"simulation":[116],"results,":[117],"average":[120],"error":[121],"8.5%":[126]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
