{"id":"https://openalex.org/W4392577082","doi":"https://doi.org/10.1109/robosoft60065.2024.10521925","title":"Design Optimization of a Soft Gripper Using Self-Contacts","display_name":"Design Optimization of a Soft Gripper Using Self-Contacts","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4392577082","doi":"https://doi.org/10.1109/robosoft60065.2024.10521925"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th 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://hal.science/hal-04482015/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032837179","display_name":"Tanguy Navez","orcid":"https://orcid.org/0000-0001-7354-8323"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Tanguy Navez","raw_affiliation_strings":["Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094095525","display_name":"Baptiste Li\u00e9vin","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Baptiste Li\u00e9vin","raw_affiliation_strings":["Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031787168","display_name":"Quentin Peyron","orcid":"https://orcid.org/0000-0003-2628-1464"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Quentin Peyron","raw_affiliation_strings":["Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058517237","display_name":"Stefan Escaida Navarro","orcid":"https://orcid.org/0000-0003-1341-2066"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stefan Escaida Navarro","raw_affiliation_strings":["Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000950523","display_name":"Olivier Goury","orcid":"https://orcid.org/0000-0002-8616-350X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Goury","raw_affiliation_strings":["Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Duriez","raw_affiliation_strings":["Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL,Lille,France,F-59000","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I2279609970","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6485,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62977441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1054","last_page":"1060"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9951000213623047,"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/grippers","display_name":"Grippers","score":0.9030416011810303},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8450841903686523},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6278849840164185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5949006676673889},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.593610405921936},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5579372644424438},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.46244722604751587},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.4165727198123932},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3719547986984253},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.36661475896835327},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.27172812819480896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2564451992511749},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2387336790561676},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.14214882254600525},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.08934164047241211},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07590159773826599}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9030416011810303},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8450841903686523},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6278849840164185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5949006676673889},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.593610405921936},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5579372644424438},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.46244722604751587},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.4165727198123932},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3719547986984253},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.36661475896835327},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.27172812819480896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2564451992511749},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2387336790561676},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.14214882254600525},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.08934164047241211},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07590159773826599},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":3,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10521925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04482015v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04482015","pdf_url":"https://hal.science/hal-04482015/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024","raw_type":"Preprints, Working Papers, ..."},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/109865","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/workingPaper"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04482015v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04482015","pdf_url":"https://hal.science/hal-04482015/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024","raw_type":"Preprints, Working Papers, ..."},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392577082.pdf"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1984187759","https://openalex.org/W2120442417","https://openalex.org/W2520982900","https://openalex.org/W2556078315","https://openalex.org/W2761143270","https://openalex.org/W2768326939","https://openalex.org/W2787799066","https://openalex.org/W2937235721","https://openalex.org/W2962897394","https://openalex.org/W3007201711","https://openalex.org/W3010777190","https://openalex.org/W3017149718","https://openalex.org/W3101541618","https://openalex.org/W3132222787","https://openalex.org/W3191202154","https://openalex.org/W4366282717","https://openalex.org/W4385489535"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W930597035","https://openalex.org/W3159512259","https://openalex.org/W4312233243","https://openalex.org/W2295282371","https://openalex.org/W4377030113","https://openalex.org/W4376605699"],"abstract_inverted_index":{"The":[0],"design":[1,70,77,93],"of":[2,66,71,119,130],"soft":[3,25,72],"robots'":[4],"deformable":[5],"bodies":[6],"is":[7,83,89],"complex,":[8],"partly":[9],"due":[10],"to":[11,30,122],"the":[12,52,64,69,114,120],"trade-off":[13],"between":[14],"softness":[15],"for":[16,20,92],"motion":[17],"and":[18,43,56,88,94,103,116,133],"stiffness":[19],"force":[21],"generation.":[22],"Self-contacts":[23],"in":[24,68,128],"structures":[26],"can":[27],"be":[28],"used":[29,90],"address":[31],"this":[32,60],"problem":[33],"but":[34],"have":[35],"been":[36],"marginally":[37],"investigated.":[38],"In":[39,59],"parallel,":[40],"parametric":[41],"designs":[42],"computational":[44],"optimization":[45,78],"tools":[46],"constitute":[47],"an":[48],"important":[49],"trend":[50],"paving":[51],"way":[53],"toward":[54,85],"shareable":[55],"reproducible":[57],"results.":[58],"paper,":[61],"we":[62],"study":[63],"potential":[65],"self-contacts":[67],"grippers":[73],"using":[74],"a":[75],"multi-objective":[76],"environment.":[79],"This":[80],"open-source":[81],"environment":[82],"targeted":[84],"grasping":[86,101,134],"tasks":[87],"both":[91],"model":[95],"calibration.":[96],"Soft":[97],"fingers":[98],"with":[99],"improved":[100],"quality":[102],"energy":[104],"are":[105,125],"obtained,":[106],"taking":[107],"into":[108],"account":[109],"different":[110,117],"friction":[111],"coefficients":[112],"at":[113],"contacts":[115],"shapes":[118],"objects":[121],"grasp.":[123],"They":[124],"experimen-tally":[126],"validated":[127],"terms":[129],"mechanical":[131],"behavior":[132],"performances.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}