{"id":"https://openalex.org/W7131137721","doi":"https://doi.org/10.1109/robio66223.2025.11375968","title":"Modeling and Experimental Verification of an Inflated Tube Robot with External Shaping Joint","display_name":"Modeling and Experimental Verification of an Inflated Tube Robot with External Shaping Joint","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131137721","doi":"https://doi.org/10.1109/robio66223.2025.11375968"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11375968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11375968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5106672625","display_name":"Wei Gong","orcid":"https://orcid.org/0009-0004-5226-8700"},"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":true,"raw_author_name":"Wei Gong","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126604035","display_name":"Kun Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Guo","raw_affiliation_strings":["Beijing Institute of Spacecraft System Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Spacecraft System Engineering,Beijing,China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haibo Gao","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":"Haibo Gao","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126585358","display_name":"Jian Chen","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":"Jian Chen","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069399602","display_name":"Tianyi Cheng","orcid":"https://orcid.org/0000-0002-2757-1001"},"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":"Tianyi Cheng","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126604356","display_name":"Baolin Tian","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":"Baolin Tian","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100648593","display_name":"Haitao Yu","orcid":"https://orcid.org/0009-0000-8603-150X"},"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":"Haitao Yu","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and Systems,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5106672625"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.60213927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"704","last_page":"709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9531000256538391,"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":0.9531000256538391,"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":0.012000000104308128,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.0052999998442828655,"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/robot","display_name":"Robot","score":0.708899974822998},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5795999765396118},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5741999745368958},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5569999814033508},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5383999943733215},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4986000061035156},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.4074000120162964},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4041999876499176},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.3944000005722046}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.708899974822998},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5795999765396118},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5741999745368958},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5569999814033508},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5383999943733215},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4986000061035156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4828999936580658},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4120999872684479},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.4074000120162964},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4041999876499176},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3889000117778778},{"id":"https://openalex.org/C190699663","wikidata":"https://www.wikidata.org/wiki/Q2435044","display_name":"Timoshenko beam theory","level":3,"score":0.3723999857902527},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.37220001220703125},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.36039999127388},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3481000065803528},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.34389999508857727},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3050999939441681},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.3000999987125397},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2955999970436096},{"id":"https://openalex.org/C168834538","wikidata":"https://www.wikidata.org/wiki/Q3705329","display_name":"Beam (structure)","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.27570000290870667},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.26739999651908875},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2590000033378601},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2563000023365021}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11375968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11375968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/W1902605501","https://openalex.org/W1970557511","https://openalex.org/W1989846092","https://openalex.org/W2008385240","https://openalex.org/W2009552080","https://openalex.org/W2019428733","https://openalex.org/W2127354294","https://openalex.org/W2166585449","https://openalex.org/W2515810555","https://openalex.org/W2737491236","https://openalex.org/W2921785030","https://openalex.org/W2946871295","https://openalex.org/W3003868926","https://openalex.org/W3036184859","https://openalex.org/W3208013307","https://openalex.org/W3214059903","https://openalex.org/W4283455384","https://openalex.org/W4285149089","https://openalex.org/W4404953039"],"related_works":[],"abstract_inverted_index":{"A":[0],"novel":[1],"inflated":[2],"robot":[3,14,112],"was":[4,87,99],"designed":[5,100],"for":[6,30,68,101,135],"exploration":[7],"in":[8,44],"narrow":[9],"and":[10,104,116,138],"long":[11],"spaces.":[12],"The":[13],"merges":[15],"the":[16,22,35,56,69,76,80,84,111,120],"stiffness":[17],"of":[18,24,141],"rigid":[19],"robots":[20],"with":[21,61,119,126],"flexibility":[23],"soft":[25],"robots,":[26,47],"showing":[27,123],"great":[28],"potential":[29],"various":[31],"applications.":[32],"To":[33],"address":[34],"significant":[36],"modeling":[37],"challenges":[38],"arising":[39],"from":[40,79],"discontinuous":[41],"curvature":[42,59],"deformations":[43],"rigid-flexible":[45,142],"coupled":[46,143],"we":[48],"have":[49],"developed":[50],"a":[51,90,95],"kinematic":[52],"model":[53,105,122],"that":[54,110],"integrates":[55],"piecewise":[57],"constant":[58],"framework":[60,98],"Timoshenko":[62],"beam":[63],"theory,":[64],"while":[65],"explicitly":[66],"accounting":[67],"pronounced":[70],"pressure":[71],"follower":[72],"force":[73,136],"effects.":[74],"Then,":[75],"complex":[77],"mappings":[78],"driven":[81],"space":[82,86],"to":[83],"task":[85],"established":[88],"via":[89],"linear":[91],"constitutive":[92],"law.":[93],"Finally,":[94],"multi-sensor":[96],"fusion":[97],"parameter":[102],"identification":[103],"verification.":[106],"Experimental":[107],"results":[108],"show":[109],"exhibits":[113],"large-curvature":[114],"deformation":[115],"growth":[117],"capability,":[118],"proposed":[121],"strong":[124],"agreement":[125],"measured":[127],"data.":[128],"This":[129],"work":[130],"provides":[131],"important":[132],"technical":[133],"support":[134],"control":[137],"broad":[139],"applications":[140],"robots.":[144]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2026-02-24T00:00:00"}