{"id":"https://openalex.org/W1976779489","doi":"https://doi.org/10.1109/tepra.2014.6869154","title":"Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake","display_name":"Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake","publication_year":2014,"publication_date":"2014-04-01","ids":{"openalex":"https://openalex.org/W1976779489","doi":"https://doi.org/10.1109/tepra.2014.6869154","mag":"1976779489"},"language":"en","primary_location":{"id":"doi:10.1109/tepra.2014.6869154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2014.6869154","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-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/A5101499106","display_name":"Ming Luo","orcid":"https://orcid.org/0000-0001-7916-7062"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming Luo","raw_affiliation_strings":["Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027179986","display_name":"Weijia Tao","orcid":"https://orcid.org/0009-0005-3942-4817"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weijia Tao","raw_affiliation_strings":["Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033662114","display_name":"Fu\u2010Chen Chen","orcid":"https://orcid.org/0000-0002-6396-2798"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fuchen Chen","raw_affiliation_strings":["Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061967882","display_name":"Tri K. Khuu","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tri K. Khuu","raw_affiliation_strings":["Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039286439","display_name":"Selim \u00d6zel","orcid":"https://orcid.org/0000-0002-6044-2869"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Selim Ozel","raw_affiliation_strings":["Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074479492","display_name":"\u00c7a\u011fda\u015f D. \u00d6nal","orcid":"https://orcid.org/0000-0002-3307-1273"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cagdas D. Onal","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","Mech. Eng. Dept., Worcester Polytech. Inst., Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Mech. Eng. Dept., Worcester Polytech. Inst., Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8857,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.89996625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9970999956130981,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.995199978351593,"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/actuator","display_name":"Actuator","score":0.7593694925308228},{"id":"https://openalex.org/keywords/fluidics","display_name":"Fluidics","score":0.7003383040428162},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.6074955463409424},{"id":"https://openalex.org/keywords/dynamic-pressure","display_name":"Dynamic pressure","score":0.5726102590560913},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5333886742591858},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4985947608947754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45804092288017273},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.44475388526916504},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.44130170345306396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3327295184135437},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.33192479610443115},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.33001768589019775},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2515893578529358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1515491008758545}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7593694925308228},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.7003383040428162},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.6074955463409424},{"id":"https://openalex.org/C172860338","wikidata":"https://www.wikidata.org/wiki/Q949674","display_name":"Dynamic pressure","level":2,"score":0.5726102590560913},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5333886742591858},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4985947608947754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45804092288017273},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.44475388526916504},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.44130170345306396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3327295184135437},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.33192479610443115},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.33001768589019775},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2515893578529358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1515491008758545},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tepra.2014.6869154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2014.6869154","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.712.2509","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.712.2509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://softrobotics.wpi.edu/papers/2014-Luo-TePRA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W1573670163","https://openalex.org/W2027192530","https://openalex.org/W2074207981","https://openalex.org/W2079950637","https://openalex.org/W2085677249","https://openalex.org/W2087108741","https://openalex.org/W2096171869","https://openalex.org/W2100995256","https://openalex.org/W2101132776","https://openalex.org/W2117212572","https://openalex.org/W2118301857","https://openalex.org/W2120906125","https://openalex.org/W2123431998","https://openalex.org/W2127940313","https://openalex.org/W2137560758","https://openalex.org/W2149694982","https://openalex.org/W2153104441","https://openalex.org/W2153499144","https://openalex.org/W2162556257","https://openalex.org/W2508834047","https://openalex.org/W2512666489","https://openalex.org/W6678878438","https://openalex.org/W6725216500","https://openalex.org/W6725995821"],"related_works":["https://openalex.org/W2329874998","https://openalex.org/W1718659621","https://openalex.org/W4322494644","https://openalex.org/W3022655634","https://openalex.org/W1945993197","https://openalex.org/W2353476186","https://openalex.org/W1750498716","https://openalex.org/W3112293155","https://openalex.org/W4213066075","https://openalex.org/W4307832533"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,88,91],"design":[4,69],"and":[5,52,75,112],"dynamic":[6,78],"analysis":[7],"of":[8,12,25,40,46,56,63,110],"a":[9,26,38,43,53,81,113],"new":[10],"generation":[11],"fluidic":[13],"elastomer":[14],"actuators":[15],"(FEAs)":[16],"that":[17],"offer":[18,97],"bidirectional":[19],"bending":[20],"developed":[21,60,93],"as":[22],"motion":[23],"segments":[24],"pressure-operated":[27],"soft":[28],"robotic":[29],"snake.":[30],"Our":[31],"prior":[32],"work":[33,96],"on":[34,66],"FEAs":[35,64,92],"has":[36],"identified":[37],"number":[39],"limitations,":[41],"namely":[42],"high":[44],"center":[45,109],"gravity,":[47],"narrow":[48],"base,":[49],"slow":[50],"dynamics,":[51],"small":[54],"range":[55],"pressure":[57,104],"inputs.":[58],"We":[59],"two":[61],"versions":[62],"based":[65],"an":[67],"improved":[68],"concept":[70],"with":[71,87],"different":[72],"geometric":[73],"parameters":[74],"characterized":[76],"their":[77],"response":[79],"under":[80],"custom":[82],"visual":[83],"tracking":[84],"system.":[85],"Compared":[86],"previous":[89],"actuators,":[90],"in":[94],"this":[95],"robust":[98],"operation,":[99],"safety":[100],"at":[101],"larger":[102],"input":[103],"values,":[105],"faster":[106],"response,":[107],"lower":[108],"gravity":[111],"flat":[114],"bottom":[115],"for":[116,119],"better":[117],"compatibility":[118],"snake-like":[120],"undulatory":[121],"locomotion.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
