{"id":"https://openalex.org/W3036539407","doi":"https://doi.org/10.1109/robosoft48309.2020.9116010","title":"A Computational Design Framework for Pressure-driven Soft Robots through Nonlinear Topology Optimization","display_name":"A Computational Design Framework for Pressure-driven Soft Robots through Nonlinear Topology Optimization","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3036539407","doi":"https://doi.org/10.1109/robosoft48309.2020.9116010","mag":"3036539407"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft48309.2020.9116010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","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/A5073875546","display_name":"Brandon Caasenbrood","orcid":"https://orcid.org/0000-0002-6299-1730"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Brandon Caasenbrood","raw_affiliation_strings":["Eindhoven University of Technology,Faculty of Mechanical Engineering, Dynamics and Control Group,5600 MB Eindhoven,The Netherlands","Faculty of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, 5600 MB Eindhoven, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Faculty of Mechanical Engineering, Dynamics and Control Group,5600 MB Eindhoven,The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, 5600 MB Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067237042","display_name":"A. Pogromsky","orcid":"https://orcid.org/0000-0001-8755-9832"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Alexander Pogromsky","raw_affiliation_strings":["Eindhoven University of Technology,Faculty of Mechanical Engineering, Dynamics and Control Group,5600 MB Eindhoven,The Netherlands","Faculty of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, 5600 MB Eindhoven, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Faculty of Mechanical Engineering, Dynamics and Control Group,5600 MB Eindhoven,The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, 5600 MB Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022300438","display_name":"Henk Nijmeijer","orcid":"https://orcid.org/0000-0001-5883-6191"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Henk Nijmeijer","raw_affiliation_strings":["Eindhoven University of Technology,Faculty of Mechanical Engineering, Dynamics and Control Group,5600 MB Eindhoven,The Netherlands","Faculty of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, 5600 MB Eindhoven, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Faculty of Mechanical Engineering, Dynamics and Control Group,5600 MB Eindhoven,The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, 5600 MB Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":9.9475,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99126782,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"633","last_page":"638"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9955000281333923,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9932000041007996,"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/topology-optimization","display_name":"Topology optimization","score":0.8428543210029602},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7098467350006104},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6050176024436951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5985081195831299},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5920286774635315},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5251878499984741},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5164301991462708},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.49199530482292175},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.4789591133594513},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46418848633766174},{"id":"https://openalex.org/keywords/hyperelastic-material","display_name":"Hyperelastic material","score":0.4595886468887329},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36772340536117554},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3567374348640442},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3332802653312683},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2143605351448059},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19297340512275696},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08727359771728516}],"concepts":[{"id":"https://openalex.org/C189216461","wikidata":"https://www.wikidata.org/wiki/Q2443456","display_name":"Topology optimization","level":3,"score":0.8428543210029602},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7098467350006104},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6050176024436951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5985081195831299},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5920286774635315},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5251878499984741},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5164301991462708},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.49199530482292175},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.4789591133594513},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46418848633766174},{"id":"https://openalex.org/C147370603","wikidata":"https://www.wikidata.org/wiki/Q3801506","display_name":"Hyperelastic material","level":3,"score":0.4595886468887329},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36772340536117554},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3567374348640442},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3332802653312683},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2143605351448059},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19297340512275696},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08727359771728516},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft48309.2020.9116010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.tue.nl:publications/ac2b0f50-bb4e-4669-9232-36a3b732c31c","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/ac2b0f50-bb4e-4669-9232-36a3b732c31c","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Caasenbrood, B, Pogromsky, A & Nijmeijer, H 2020, A Computational Design Framework for Pressure-driven Soft Robots through Nonlinear Topology Optimization. in 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020., 9116010, Institute of Electrical and Electronics Engineers, pp. 633-638, 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020, New Haven, United States, 15/05/20. https://doi.org/10.1109/RoboSoft48309.2020.9116010","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:tue:oai:pure.tue.nl:publications/ac2b0f50-bb4e-4669-9232-36a3b732c31c","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/ac2b0f50-bb4e-4669-9232-36a3b732c31c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020, 633 - 638","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1527981989","https://openalex.org/W1536008817","https://openalex.org/W1571978122","https://openalex.org/W1575923498","https://openalex.org/W1968048475","https://openalex.org/W2000483727","https://openalex.org/W2001391725","https://openalex.org/W2029614681","https://openalex.org/W2057256057","https://openalex.org/W2062523101","https://openalex.org/W2111450821","https://openalex.org/W2117085697","https://openalex.org/W2195947457","https://openalex.org/W2296718990","https://openalex.org/W2515930553","https://openalex.org/W2556078315","https://openalex.org/W2738259110","https://openalex.org/W2888938382","https://openalex.org/W2924496780","https://openalex.org/W2947733861","https://openalex.org/W2966651785","https://openalex.org/W2972943692","https://openalex.org/W4287997864","https://openalex.org/W6657700262"],"related_works":["https://openalex.org/W4318070857","https://openalex.org/W4289888891","https://openalex.org/W2353996222","https://openalex.org/W2054885914","https://openalex.org/W3032419129","https://openalex.org/W4280618034","https://openalex.org/W2326585759","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W4312269480"],"abstract_inverted_index":{"In":[0],"this":[1,57,80],"work,":[2],"we":[3,82],"present":[4],"a":[5,21],"novel":[6],"framework":[7,131,150],"for":[8],"synthesizing":[9],"the":[10,29,40,66,70,84,93,106,130,163],"design":[11,19,155],"of":[12,42,109,145,165],"pressure-driven":[13,43],"soft":[14,31,47,99,110,146,169],"robots.":[15],"Contrary":[16],"to":[17,27,56,90,141,162],"traditional":[18],"methods,":[20],"topology":[22,44,61,68],"optimization":[23,45,62,75],"scheme":[24],"is":[25,49,63,104,116],"employed":[26],"find":[28],"optimal":[30],"robotic":[32,147],"structure":[33],"given":[34],"user-defined":[35],"requirements.":[36],"To":[37,77],"our":[38],"knowledge,":[39],"combination":[41],"and":[46,135,167],"robotics":[48],"still":[50],"unexplored.":[51],"Two":[52],"difficulties":[53],"are":[54],"related":[55],"problem.":[58],"First,":[59],"pressure-based":[60],"challenging":[64],"since":[65],"adaptive":[67],"changes":[69],"pneumatic":[71,96],"load":[72],"at":[73],"each":[74],"step.":[76],"deal":[78],"with":[79,139],"issue,":[81],"exploit":[83],"facial":[85],"connectivity":[86],"in":[87,98],"polygonal":[88],"meshes":[89],"efficiently":[91],"simulate":[92],"physics":[94],"involving":[95],"actuation":[97],"robotics.":[100],"The":[101],"second":[102],"issue":[103],"describing":[105],"hyperelastic":[107],"nature":[108],"materials.":[111],"Here,":[112],"nonlinear":[113],"finite":[114],"element":[115],"explored":[117],"such":[118],"that":[119,129],"large":[120],"deformations":[121],"can":[122,132],"be":[123],"described":[124],"accurately.":[125],"Numerical":[126],"investigation":[127],"shows":[128],"produce":[133],"meaningful":[134],"insight-full":[136],"material":[137],"layouts":[138],"little":[140],"no":[142],"prior":[143],"knowledge":[144],"design.":[148],"This":[149],"does":[151],"not":[152],"only":[153],"accelerates":[154],"convergence,":[156],"but":[157],"it":[158],"could":[159],"also":[160],"extend":[161],"development":[164],"new":[166],"unexplored":[168],"robot":[170],"morphologies.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}