{"id":"https://openalex.org/W4376605717","doi":"https://doi.org/10.1109/robosoft55895.2023.10122116","title":"Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control","display_name":"Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605717","doi":"https://doi.org/10.1109/robosoft55895.2023.10122116"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10122116","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft55895.2023.10122116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/199524","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013814737","display_name":"Francesco Piqu\u00e9","orcid":"https://orcid.org/0000-0002-9101-0428"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Francesco Piqu\u00e9","raw_affiliation_strings":["The BioRobotics Insitute, Scuola Superiore Sant'Anna,Pisa,Italy","Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Insitute, Scuola Superiore Sant'Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012482583","display_name":"Francesco Stella","orcid":"https://orcid.org/0000-0002-4724-1886"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["CH","NL"],"is_corresponding":false,"raw_author_name":"Francesco Stella","raw_affiliation_strings":["CREATE Lab,EPFL,Lausanne,Switzerland","Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","EPFL, CREATE Lab, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab,EPFL,Lausanne,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"EPFL, CREATE Lab, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":["CREATE Lab,EPFL,Lausanne,Switzerland","EPFL, CREATE Lab, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab,EPFL,Lausanne,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"EPFL, CREATE Lab, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033570527","display_name":"Egidio Falotico","orcid":"https://orcid.org/0000-0001-8060-8080"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Egidio Falotico","raw_affiliation_strings":["The BioRobotics Insitute, Scuola Superiore Sant'Anna,Pisa,Italy","Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Insitute, Scuola Superiore Sant'Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["DE","NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics,Delft,The Netherlands","Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics,Delft,The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5013814737"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.1099,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.3795885,"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":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9926000237464905,"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":0.9915000200271606,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7648242115974426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6517729163169861},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6208371520042419},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6049656271934509},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5704923272132874},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.507117509841919},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.45799002051353455},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4543156325817108},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4539794623851776},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36279988288879395}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7648242115974426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6517729163169861},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6208371520042419},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6049656271934509},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5704923272132874},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.507117509841919},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.45799002051353455},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4543156325817108},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4539794623851776},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36279988288879395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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":5,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10122116","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft55895.2023.10122116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:197510","is_oa":false,"landing_page_url":"https://elib.dlr.de/197510/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:infoscience.epfl.ch:303936","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/199524","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"},{"id":"pmh:oai:tudelft.nl:uuid:2f5c95b5-303d-4ba8-bc33-725d996250de","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:2f5c95b5-303d-4ba8-bc33-725d996250de","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"},{"id":"pmh:oai:zenodo.org:10143362","is_oa":true,"landing_page_url":"https://doi.org/10.1109/RoboSoft55895.2023.10122116","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:303936","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/199524","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1514887169","https://openalex.org/W1997082874","https://openalex.org/W2009289558","https://openalex.org/W2079574144","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2122488042","https://openalex.org/W2883279767","https://openalex.org/W2890294086","https://openalex.org/W2908901353","https://openalex.org/W2913446864","https://openalex.org/W2930142071","https://openalex.org/W2963315649","https://openalex.org/W3008109267","https://openalex.org/W3106971150","https://openalex.org/W3142099226","https://openalex.org/W4214867170","https://openalex.org/W4225002642","https://openalex.org/W4225544527","https://openalex.org/W4365814887","https://openalex.org/W6630825244"],"related_works":["https://openalex.org/W2942338563","https://openalex.org/W4206733587","https://openalex.org/W2982185707","https://openalex.org/W2954544872","https://openalex.org/W2007221537","https://openalex.org/W2174690912","https://openalex.org/W2490690736","https://openalex.org/W2901061805","https://openalex.org/W2080330449","https://openalex.org/W4296449477"],"abstract_inverted_index":{"Elephants":[0],"and":[1,36,40,78,121],"other":[2],"animals":[3],"heavily":[4],"rely":[5],"on":[6,53,105],"the":[7,42,67,75,79,100,114,132],"sense":[8,21],"of":[9,22,134],"smell":[10,61,98],"to":[11,69,86,93],"operate.":[12],"Soft":[13],"robots":[14],"would":[15],"also":[16,119],"benefit":[17],"from":[18],"an":[19,50],"artificial":[20,51,116],"smell,":[23],"which":[24,102],"could":[25],"be":[26],"helpful":[27],"in":[28,99,123,131],"typical":[29],"soft":[30,55,109],"robotic":[31,56,110],"tasks":[32,43,130],"such":[33],"as":[34],"search":[35],"rescue,":[37],"pipe":[38],"inspection,":[39],"all":[41],"involving":[44],"unstructured":[45],"environments.":[46],"This":[47,81],"work":[48],"proposes":[49],"nose":[52,68],"a":[54,71,88,95,106,125,135],"arm":[57,111],"that":[58],"ensures":[59],"separate":[60],"concentration":[62],"readings.":[63],"We":[64,118],"propose":[65,120],"designing":[66],"generate":[70],"one-to-one":[72],"matching":[73],"between":[74],"sensors'":[76],"inputs":[77],"actuators.":[80],"design":[82],"choice":[83],"allows":[84],"us":[85],"implement":[87],"simple":[89],"control":[90,126],"strategy":[91,127],"tailored":[92],"reach":[94],"dynamically":[96],"varying":[97],"environment,":[101],"we":[103],"validate":[104,122],"two-segment":[107],"tendon-driven":[108],"equipped":[112],"with":[113],"proposed":[115],"nose.":[117],"simulation":[124],"for":[128],"reaching":[129],"case":[133],"stationary":[136],"smell.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2023-05-17T00:00:00"}