{"id":"https://openalex.org/W4386824924","doi":"https://doi.org/10.1109/tase.2023.3313395","title":"Analytical Modeling and Inverse Design of Centimeter-Scale Hard-Magnetic Soft Robots","display_name":"Analytical Modeling and Inverse Design of Centimeter-Scale Hard-Magnetic Soft Robots","publication_year":2023,"publication_date":"2023-09-18","ids":{"openalex":"https://openalex.org/W4386824924","doi":"https://doi.org/10.1109/tase.2023.3313395"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3313395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3313395","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","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/A5100783797","display_name":"Jinqiang Wang","orcid":"https://orcid.org/0000-0003-4753-6569"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinqiang Wang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4753-6569","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100391512","display_name":"Dong Wang","orcid":"https://orcid.org/0000-0002-8569-8713"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8569-8713","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102853035","display_name":"Le Dong","orcid":"https://orcid.org/0000-0002-6713-7824"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Dong","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mengjie Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengjie Zhang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070063268","display_name":"Guoying Gu","orcid":"https://orcid.org/0000-0002-7778-4523"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoying Gu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7778-4523","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, and the Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100783797"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":2.2788,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.87397624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"21","issue":"4","first_page":"5558","last_page":"5569"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9997000098228455,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9997000098228455,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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/robot","display_name":"Robot","score":0.7798233032226562},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7410672903060913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5198979377746582},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5001554489135742},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.46360835433006287},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3463849723339081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32782065868377686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23615291714668274},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21766328811645508}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7798233032226562},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7410672903060913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5198979377746582},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5001554489135742},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.46360835433006287},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3463849723339081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32782065868377686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23615291714668274},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21766328811645508},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3313395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3313395","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G652974745","display_name":null,"funder_award_id":"52275025","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8174197048","display_name":null,"funder_award_id":"52025057","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8543405041","display_name":null,"funder_award_id":"MSVZD202212","funder_id":"https://openalex.org/F4320327024","funder_display_name":"State Key Laboratory of Mechanical System and Vibration"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327024","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1974404072","https://openalex.org/W2026686720","https://openalex.org/W2028524240","https://openalex.org/W2061848267","https://openalex.org/W2071467620","https://openalex.org/W2126052881","https://openalex.org/W2526011581","https://openalex.org/W2574832239","https://openalex.org/W2754072917","https://openalex.org/W2785110060","https://openalex.org/W2805926569","https://openalex.org/W2896050657","https://openalex.org/W2911624429","https://openalex.org/W2940956030","https://openalex.org/W2951232899","https://openalex.org/W2971278234","https://openalex.org/W2972539416","https://openalex.org/W2977674090","https://openalex.org/W2985633827","https://openalex.org/W2999727357","https://openalex.org/W3001337122","https://openalex.org/W3010377011","https://openalex.org/W3017542531","https://openalex.org/W3029417248","https://openalex.org/W3033268204","https://openalex.org/W3034325083","https://openalex.org/W3038063754","https://openalex.org/W3078964289","https://openalex.org/W3080867664","https://openalex.org/W3087167655","https://openalex.org/W3087249929","https://openalex.org/W3087565571","https://openalex.org/W3087615154","https://openalex.org/W3094186432","https://openalex.org/W3095528288","https://openalex.org/W3111240581","https://openalex.org/W3112236936","https://openalex.org/W3133156511","https://openalex.org/W3134023382","https://openalex.org/W3157424513","https://openalex.org/W3162127210","https://openalex.org/W3165209381","https://openalex.org/W3168394316","https://openalex.org/W3171025682","https://openalex.org/W3175779951","https://openalex.org/W3176896930","https://openalex.org/W3197310813","https://openalex.org/W3205891791","https://openalex.org/W3209260196","https://openalex.org/W3209556977","https://openalex.org/W3209781391","https://openalex.org/W3210040338","https://openalex.org/W4213292155","https://openalex.org/W4213305254","https://openalex.org/W4220999742","https://openalex.org/W4224274935","https://openalex.org/W4225796442","https://openalex.org/W4229053821","https://openalex.org/W4289539013","https://openalex.org/W4297034354","https://openalex.org/W4312273716","https://openalex.org/W4319870973"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1640559846","https://openalex.org/W4312985516"],"abstract_inverted_index":{"Hard-magnetic":[0],"soft":[1,32,38,61,114,137,154,179,188,196,220,239,268,291],"robots":[2,39,62,115,155,189,197,221,240,269,292],"can":[3,280],"form":[4],"diverse":[5],"soft-body":[6],"deformation":[7],"modes":[8],"and":[9,43,82,85,91,129,156,174,201,232,246,277,287,296,301],"safely":[10],"interact":[11],"with":[12,40,121,270,293],"their":[13,158],"surrounding":[14],"environment,":[15],"offering":[16],"great":[17],"promise":[18],"in":[19,299],"performing":[20],"complex":[21,143],"functions.":[22],"Although":[23],"there":[24],"have":[25,190],"been":[26,191],"significant":[27],"theoretical":[28,110,119],"developments":[29],"of":[30,36,142,167,259,267,289],"small-scale":[31],"robots,":[33],"the":[34,70,76,88,95,109,118,122,149,176,194,226,260,264,284],"design":[35,58,102,152,266],"centimeter-scale":[37,59,153,177,195,218],"larger":[41,199],"workspace":[42,200,295],"output":[44,202,297],"forces":[45,298],"remains":[46],"elusive.":[47],"In":[48,250],"this":[49,168],"paper,":[50],"we":[51],"develop":[52,99],"an":[53,100,214,252],"analytical":[54,215,261,275],"model":[55,74,120,216,276],"to":[56,94,124,151,163,171,241],"automatically":[57],"hard-magnetic":[60,178,219],"that":[63,222],"exhibit":[64],"desired":[65],"configurations,":[66],"enabled":[67],"by":[68,117,257],"programming":[69],"magnetization":[71,78,228],"profile.":[72],"The":[73,145,274],"considers":[75],"varying":[77,227],"profile,":[79,229],"gravity":[80,230],"effect":[81,231],"large":[83,233,294],"deformation,":[84],"directly":[86],"relates":[87],"material,":[89],"geometric":[90],"loading":[92],"parameters":[93],"final":[96],"configurations.":[97],"We":[98,112,133],"inverse":[101,265],"method":[103,254,279],"for":[104,208,217,283],"configuration":[105],"matching":[106],"based":[107],"on":[108],"model.":[111],"demonstrate":[113,135],"designed":[116],"capability":[123],"pass":[125,242],"through":[126,243],"narrow":[127,244],"channels":[128,245],"crawl":[130,247],"over":[131,248],"obstacles.":[132,249],"further":[134],"optimized":[136],"grippers":[138],"showing":[139],"conformal":[140],"grasping":[141,272],"objects.":[144],"proposed":[146,256],"methodology":[147],"paves":[148],"way":[150],"broaden":[157],"applications":[159],"<italic":[160],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[161],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[162],"Practitioners</i>":[164],"\u2014The":[165],"motivation":[166],"work":[169],"is":[170,255],"analyze,":[172],"predict,":[173],"control":[175],"robot":[180],"under":[181],"external":[182],"magnetic":[183,290],"fields.":[184],"While":[185],"smaller":[186],"magnetic-driven":[187],"extensively":[192],"studied,":[193],"offer":[198],"forces,":[203],"making":[204],"them":[205],"more":[206],"versatile":[207],"certain":[209],"applications.":[210],"This":[211],"paper":[212],"develops":[213],"takes":[223],"into":[224],"account":[225],"deformation.":[234],"It":[235],"allows":[236],"magnetically":[237],"driven":[238],"addition,":[251],"optimization":[253,278],"virtue":[258],"model,":[262],"enabling":[263],"prescribed":[271],"postures.":[273],"be":[281],"implemented":[282],"dexterous":[285],"locomotion":[286],"manipulation":[288],"medical":[300],"industrial":[302],"settings.":[303]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}