{"id":"https://openalex.org/W4221155010","doi":"https://doi.org/10.1109/robosoft54090.2022.9762147","title":"Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments","display_name":"Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4221155010","doi":"https://doi.org/10.1109/robosoft54090.2022.9762147"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.15198","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028106277","display_name":"Zhiwu Zheng","orcid":"https://orcid.org/0000-0003-4234-6774"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhiwu Zheng","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079792057","display_name":"Prakhar Kumar","orcid":"https://orcid.org/0000-0002-0479-1976"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prakhar Kumar","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012781905","display_name":"Yenan Chen","orcid":"https://orcid.org/0000-0002-9906-4500"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yenan Chen","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102884997","display_name":"Hsin Cheng","orcid":"https://orcid.org/0000-0002-3057-6874"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hsin Cheng","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032133587","display_name":"S. Wagner","orcid":"https://orcid.org/0000-0002-3222-4071"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sigurd Wagner","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664381","display_name":"Minjie Chen","orcid":"https://orcid.org/0000-0003-0705-563X"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minjie Chen","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101645607","display_name":"Naveen Verma","orcid":"https://orcid.org/0000-0002-8208-5030"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naveen Verma","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074204707","display_name":"James C. Sturm","orcid":"https://orcid.org/0000-0002-0878-5266"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James C. Sturm","raw_affiliation_strings":["Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Electrical and Computer Engineering,Princeton,New Jersey,U.S.A.,08544","institution_ids":["https://openalex.org/I20089843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5028106277"],"corresponding_institution_ids":["https://openalex.org/I20089843"],"apc_list":null,"apc_paid":null,"fwci":1.385,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.78359918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"693","last_page":"698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9950000047683716,"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":0.9914000034332275,"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/robot","display_name":"Robot","score":0.7662767171859741},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.6137624979019165},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5547988414764404},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5544617176055908},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5070598125457764},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47618260979652405},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4483746290206909},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.43979692459106445},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4382554590702057},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.43452292680740356},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4237584173679352},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4119141101837158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3534935712814331},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21499401330947876},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14983892440795898},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09638169407844543},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08521333336830139}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7662767171859741},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.6137624979019165},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5547988414764404},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5544617176055908},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5070598125457764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47618260979652405},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4483746290206909},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.43979692459106445},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4382554590702057},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.43452292680740356},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4237584173679352},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4119141101837158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3534935712814331},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21499401330947876},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14983892440795898},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09638169407844543},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08521333336830139},{"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2203.15198","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.15198","pdf_url":"https://arxiv.org/pdf/2203.15198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.15198","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.15198","pdf_url":"https://arxiv.org/pdf/2203.15198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1524590318","https://openalex.org/W1986347391","https://openalex.org/W2101667962","https://openalex.org/W2161795049","https://openalex.org/W2502475384","https://openalex.org/W2803260709","https://openalex.org/W2955102412","https://openalex.org/W2966665557","https://openalex.org/W2996185064","https://openalex.org/W2999072533","https://openalex.org/W3215126678","https://openalex.org/W4221161374","https://openalex.org/W4234886739","https://openalex.org/W4289761856","https://openalex.org/W6646915566","https://openalex.org/W6753146606"],"related_works":["https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2171573941","https://openalex.org/W4317382653","https://openalex.org/W2140790411","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"Soft":[0],"robots":[1,27],"have":[2],"drawn":[3],"significant":[4,30],"attention":[5],"recently":[6],"for":[7,32,98],"their":[8,20,42],"ability":[9],"to":[10,25,44,83,121,127,135,180],"achieve":[11],"rich":[12],"shapes":[13,105,173],"when":[14],"interacting":[15],"with":[16,78,190],"complex":[17],"environments.":[18],"However,":[19],"elasticity":[21],"and":[22,34,67,101,139,145,171],"flexibility":[23],"compared":[24],"rigid":[26],"also":[28,188],"pose":[29],"challenges":[31,57],"precise":[33],"robust":[35],"shape":[36,99,133,143],"control":[37,144],"in":[38,46,50],"real-time.":[39],"Motivated":[40],"by":[41,60,69],"potential":[43],"operate":[45],"highly-constrained":[47],"environments,":[48],"as":[49,110],"search-and-rescue":[51],"operations,":[52],"this":[53],"work":[54],"addresses":[55],"these":[56],"of":[58,130],"soft-robots":[59],"developing":[61],"a":[62,84,94,149],"model-based":[63],"full-shape":[64],"controller,":[65],"validated":[66],"demonstrated":[68],"experiments.":[70],"A":[71],"five-actuator":[72],"planar":[73,79],"soft":[74],"robot":[75,132,157],"was":[76],"constructed":[77],"piezoelectric":[80],"layers":[81],"bonded":[82],"steel":[85],"foil":[86],"substrate,":[87],"enabling":[88],"inchworm-like":[89],"motion.":[90],"The":[91,165],"controller":[92],"uses":[93],"soft-body":[95],"continuous":[96],"model":[97,123],"planning":[100],"control,":[102],"given":[103],"target":[104,172],"and/or":[106],"environmental":[107],"constraints,":[108],"such":[109],"crawling":[111],"under":[112,148],"overhead":[113,163],"barriers":[114],"or":[115],"&#x201C;roof&#x201D;":[116],"safety":[117,151],"lines.":[118],"An":[119],"approach":[120],"background":[122],"calibrations":[124],"is":[125,187],"developed":[126],"address":[128],"deviations":[129],"actual":[131],"due":[134],"material":[136],"parameter":[137],"variations":[138],"drift.":[140],"Full":[141],"experimental":[142],"optimal":[146],"movement":[147],"roof":[150,193],"line":[152],"are":[153],"demonstrated,":[154],"where":[155],"the":[156,162,169],"maximizes":[158],"its":[159],"speed":[160],"within":[161],"constraint.":[164],"mean-squared":[166],"error":[167],"between":[168],"measured":[170],"improves":[174],"from":[175],"&#x007E;":[176,181],"0.05":[177],"cm<sup>2</sup>without":[178],"calibration":[179],"0.01":[182],"cm<sup>2</sup>with":[183],"calibration.":[184],"Simulation-based":[185],"validation":[186],"performed":[189],"various":[191],"different":[192],"shapes.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2022-04-03T00:00:00"}