{"id":"https://openalex.org/W4409917842","doi":"https://doi.org/10.1109/robio64047.2024.10907598","title":"Inchworm-Like Soft Robot with Anisotropic Magnetization for Untethered Crawling and Manipulating","display_name":"Inchworm-Like Soft Robot with Anisotropic Magnetization for Untethered Crawling and Manipulating","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4409917842","doi":"https://doi.org/10.1109/robio64047.2024.10907598"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5041527171","display_name":"Shishi Li","orcid":"https://orcid.org/0009-0004-5240-9374"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shishi Li","raw_affiliation_strings":["Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073482838","display_name":"Ruixuan Li","orcid":"https://orcid.org/0000-0003-2882-8398"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruixuan Li","raw_affiliation_strings":["Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101520110","display_name":"Jinrong Wang","orcid":"https://orcid.org/0000-0002-0779-0469"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinrong Wang","raw_affiliation_strings":["Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007402362","display_name":"Xianghe Meng","orcid":"https://orcid.org/0000-0002-4924-4132"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianghe Meng","raw_affiliation_strings":["Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hui Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Xie","raw_affiliation_strings":["Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State key Laboratory of Robotics and Systems,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1864,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50483587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"553","last_page":"558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"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":0.995199978351593,"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":0.992900013923645,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.8526651859283447},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6694937944412231},{"id":"https://openalex.org/keywords/magnetization","display_name":"Magnetization","score":0.6609468460083008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49554598331451416},{"id":"https://openalex.org/keywords/anisotropy","display_name":"Anisotropy","score":0.47058573365211487},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.43981972336769104},{"id":"https://openalex.org/keywords/magnetic-anisotropy","display_name":"Magnetic anisotropy","score":0.4328547716140747},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30707794427871704},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2726958990097046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2585257589817047},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.1665923297405243},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07914364337921143},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07421773672103882}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8526651859283447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6694937944412231},{"id":"https://openalex.org/C32546565","wikidata":"https://www.wikidata.org/wiki/Q856711","display_name":"Magnetization","level":3,"score":0.6609468460083008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49554598331451416},{"id":"https://openalex.org/C85725439","wikidata":"https://www.wikidata.org/wiki/Q466686","display_name":"Anisotropy","level":2,"score":0.47058573365211487},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.43981972336769104},{"id":"https://openalex.org/C32938098","wikidata":"https://www.wikidata.org/wiki/Q918398","display_name":"Magnetic anisotropy","level":4,"score":0.4328547716140747},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30707794427871704},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2726958990097046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2585257589817047},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.1665923297405243},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07914364337921143},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07421773672103882},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2104013074","https://openalex.org/W2122090762","https://openalex.org/W2125095347","https://openalex.org/W2785110060","https://openalex.org/W2800919684","https://openalex.org/W2911624429","https://openalex.org/W2963308427","https://openalex.org/W2966665557","https://openalex.org/W2977674090","https://openalex.org/W2989235033","https://openalex.org/W3003845873","https://openalex.org/W3029417248","https://openalex.org/W3107825643","https://openalex.org/W3114961680","https://openalex.org/W3209341576","https://openalex.org/W4220999742","https://openalex.org/W4292877317","https://openalex.org/W4317373359","https://openalex.org/W4399658687"],"related_works":["https://openalex.org/W4390135167","https://openalex.org/W2968643431","https://openalex.org/W1651718342","https://openalex.org/W2151693621","https://openalex.org/W2022103623","https://openalex.org/W2030894598","https://openalex.org/W2290944666","https://openalex.org/W2081632276","https://openalex.org/W2103565969","https://openalex.org/W2915558261"],"abstract_inverted_index":{"Inchworm-like":[0],"robots":[1,157],"have":[2],"shown":[3],"promise":[4,140],"in":[5,22,121,143,151],"achieving":[6,67],"multimodal":[7],"movements,":[8],"yet":[9],"the":[10,100,110,153],"integration":[11],"of":[12,72,107,155],"un-tethered":[13],"locomotion":[14,62,135],"and":[15,52,96,136,146,161],"manipulation":[16,85,116,137],"capabilities":[17,154],"remains":[18],"a":[19,28,68,127,148],"persistent":[20],"challenge":[21,35],"soft":[23,30,156],"robotics.":[24],"This":[25,55,133],"paper":[26],"presents":[27],"novel":[29],"robot":[31,81],"that":[32],"addresses":[33],"this":[34],"through":[36,126],"an":[37,76,90],"anisotropic":[38],"magnetization":[39,102],"distribution,":[40],"achieved":[41],"via":[42],"3D":[43],"printing,":[44],"enabling":[45,89],"precise":[46],"control":[47,106],"over":[48],"its":[49,87],"three-dimensional":[50],"structure":[51],"magnetic":[53,60,112],"properties.":[54],"unique":[56],"design":[57,103],"allows":[58],"for":[59,141,158],"field-controlled":[61],"with":[63,93],"asymmetric":[64],"time-varying":[65],"postures,":[66],"maximum":[69],"stride":[70],"length":[71],"9.2":[73],"mm":[74],"under":[75,109],"80":[77],"mT":[78],"field.":[79],"The":[80,118],"employs":[82],"active":[83],"friction":[84],"between":[86],"feet,":[88],"inchworm-like":[91],"gait":[92],"alternating":[94],"forefoot":[95],"rearfoot":[97],"fixation.":[98],"Additionally,":[99],"specific":[101],"permits":[104],"independent":[105],"grippers":[108],"same":[111],"field,":[113],"facilitating":[114],"complex":[115],"tasks.":[117,163],"robot's":[119],"potential":[120,159],"biomedical":[122],"applications":[123,142],"is":[124],"demonstrated":[125],"multi-region":[128],"targeted":[129],"drug":[130],"delivery":[131],"experiment.":[132],"integrated":[134],"platform":[138],"shows":[139],"confined":[144],"spaces":[145],"represents":[147],"step":[149],"forward":[150],"expanding":[152],"medical":[160],"industrial":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
