{"id":"https://openalex.org/W4407403265","doi":"https://doi.org/10.1109/sii59315.2025.10870989","title":"Subterranean locomotion of half-inch diameter soft earthworm robot with bellows segments","display_name":"Subterranean locomotion of half-inch diameter soft earthworm robot with bellows segments","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407403265","doi":"https://doi.org/10.1109/sii59315.2025.10870989"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10870989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","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/A5116241528","display_name":"Genta Sasaki","orcid":null},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Genta Sasaki","raw_affiliation_strings":["Meiji University Graduate School,Graduate School of Science and Engineering,Department of Mechanical Engineering,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meiji University Graduate School,Graduate School of Science and Engineering,Department of Mechanical Engineering,Japan","institution_ids":["https://openalex.org/I16656306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002207976","display_name":"Kazuya Kudo","orcid":null},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Kudo","raw_affiliation_strings":["Meiji University Graduate School,Graduate School of Science and Engineering,Department of Mechanical Engineering,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meiji University Graduate School,Graduate School of Science and Engineering,Department of Mechanical Engineering,Japan","institution_ids":["https://openalex.org/I16656306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059653874","display_name":"Ryuma Niiyama","orcid":"https://orcid.org/0000-0002-9072-8251"},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryuma Niiyama","raw_affiliation_strings":["Meiji University Graduate School,Graduate School of Science and Engineering,Department of Mechanical Engineering,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meiji University Graduate School,Graduate School of Science and Engineering,Department of Mechanical Engineering,Japan","institution_ids":["https://openalex.org/I16656306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16656306"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"211","last_page":"215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9922000169754028,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.963100016117096,"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/bellows","display_name":"Bellows","score":0.9446898698806763},{"id":"https://openalex.org/keywords/earthworm","display_name":"Earthworm","score":0.8176239728927612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.740947961807251},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4779632091522217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4427456855773926},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.41634097695350647},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3889654278755188},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3165434002876282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2922077775001526},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.26814305782318115},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2458151876926422},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2295764982700348},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.10607653856277466}],"concepts":[{"id":"https://openalex.org/C2779410321","wikidata":"https://www.wikidata.org/wiki/Q208103","display_name":"Bellows","level":2,"score":0.9446898698806763},{"id":"https://openalex.org/C2776332788","wikidata":"https://www.wikidata.org/wiki/Q124378","display_name":"Earthworm","level":2,"score":0.8176239728927612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.740947961807251},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4779632091522217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4427456855773926},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.41634097695350647},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3889654278755188},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3165434002876282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2922077775001526},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.26814305782318115},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2458151876926422},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2295764982700348},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.10607653856277466},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10870989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1574677314","https://openalex.org/W2071188031","https://openalex.org/W2168838142","https://openalex.org/W2189268927","https://openalex.org/W2793995007","https://openalex.org/W2831967569","https://openalex.org/W2935825179","https://openalex.org/W2947527046","https://openalex.org/W3036564185","https://openalex.org/W4304481347","https://openalex.org/W4318338134"],"related_works":["https://openalex.org/W4404518980","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2940850594","https://openalex.org/W4361230927","https://openalex.org/W3029431726","https://openalex.org/W2634411759"],"abstract_inverted_index":{"Moving":[0],"through":[1],"the":[2,18,48,77,80,92,97,101,107],"ground":[3],"with":[4,58,84,130],"a":[5,9,28,53,111],"soft":[6],"robot":[7,57,66],"is":[8,82,89,118,121],"difficult":[10],"task.":[11],"Soft":[12],"locomotion":[13],"can":[14],"move":[15],"without":[16],"damaging":[17],"environment,":[19],"such":[20],"as":[21,123],"tree":[22],"roots,":[23],"but":[24],"even":[25],"in":[26,40,106,142],"just":[27],"few":[29],"centimeters":[30],"of":[31,62,68,79,100,134],"soil,":[32],"high":[33],"friction":[34],"and":[35,43,71,76,104,137,140],"resistance":[36],"forces":[37],"occur.":[38],"Differences":[39],"soil":[41,135],"topography":[42,136],"moisture":[44,138],"content":[45],"also":[46],"affect":[47],"motion.":[49],"We":[50,127],"therefore":[51],"developed":[52],"small,":[54],"bellows-shaped":[55],"earthworm":[56],"an":[59,124],"outer":[60],"diameter":[61],"12":[63],"mm.":[64],"The":[65],"consists":[67],"silicone":[69],"rubber":[70],"shape":[72,93],"memory":[73,94],"alloy":[74,95],"wire,":[75,96],"inside":[78],"bellows":[81,102],"filled":[83],"air.":[85],"When":[86,115],"electric":[87],"current":[88,117],"applied":[90],"to":[91],"convex":[98],"part":[99],"contracts":[103],"stretches":[105],"axial":[108],"direction,":[109],"generating":[110],"force":[112],"for":[113],"movement.":[114],"no":[116],"applied,":[119],"it":[120],"used":[122],"anchoring":[125],"segment.":[126],"have":[128],"experimented":[129],"16":[131],"different":[132],"patterns":[133],"content,":[139],"succeeded":[141],"realizing":[143],"soft-robotic":[144],"subterranean":[145],"locomotion.":[146]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}