{"id":"https://openalex.org/W2397478573","doi":"https://doi.org/10.1109/tie.2016.2572670","title":"Modeling and Motion Control of a Soft Robot","display_name":"Modeling and Motion Control of a Soft Robot","publication_year":2016,"publication_date":"2016-05-24","ids":{"openalex":"https://openalex.org/W2397478573","doi":"https://doi.org/10.1109/tie.2016.2572670","mag":"2397478573"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2016.2572670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2572670","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5101493976","display_name":"Yanqiong Fei","orcid":"https://orcid.org/0000-0002-7089-2089"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]},{"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":"Yanqiong Fei","raw_affiliation_strings":["Institution of Robotics, Shanghai Jiaotong University, Shanghai, China","School of Automation, Hangzhou Dianzi University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institution of Robotics, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053751333","display_name":"Hongwei Xu","orcid":"https://orcid.org/0000-0003-4220-5154"},"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":"Hongwei Xu","raw_affiliation_strings":["Institution of Robotics, Shanghai Jiaotong University, Shanghai, China","[Institution of Robotics, Shanghai Jiaotong University, Shanghai, China]"],"affiliations":[{"raw_affiliation_string":"Institution of Robotics, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"[Institution of Robotics, Shanghai Jiaotong University, Shanghai, China]","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101493976"],"corresponding_institution_ids":["https://openalex.org/I183067930","https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":1.7094,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.83424735,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"64","issue":"2","first_page":"1737","last_page":"1742"},"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/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9616000056266785,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8039012551307678},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5812283158302307},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.47663792967796326},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4635801315307617},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4533897042274475},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44378355145454407},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4431518316268921},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42632508277893066},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42331230640411377},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4180455207824707},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4163416624069214},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37324291467666626},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.369051456451416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23089876770973206},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1743914783000946},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.1725597083568573}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8039012551307678},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5812283158302307},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.47663792967796326},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4635801315307617},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4533897042274475},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44378355145454407},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4431518316268921},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42632508277893066},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42331230640411377},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4180455207824707},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4163416624069214},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37324291467666626},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.369051456451416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23089876770973206},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1743914783000946},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1725597083568573},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2016.2572670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2572670","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5315789801","display_name":null,"funder_award_id":"51475300","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W578378481","https://openalex.org/W1969107377","https://openalex.org/W1978669653","https://openalex.org/W1982455103","https://openalex.org/W1986717340","https://openalex.org/W1990953452","https://openalex.org/W1999826087","https://openalex.org/W2025613329","https://openalex.org/W2029744358","https://openalex.org/W2079574144","https://openalex.org/W2087108741","https://openalex.org/W2141150150","https://openalex.org/W2160679301","https://openalex.org/W2914835493","https://openalex.org/W6647072359"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2122871747","https://openalex.org/W2517667497","https://openalex.org/W3114279067","https://openalex.org/W1965964592","https://openalex.org/W4283723178","https://openalex.org/W2356274839","https://openalex.org/W2144728118","https://openalex.org/W4236945527","https://openalex.org/W1631069788"],"abstract_inverted_index":{"A":[0,100,124],"soft":[1,74,163,173],"robot":[2,20,53,174],"with":[3],"locomotive":[4],"abilities":[5],"controlled":[6],"by":[7,42],"body":[8],"deformations":[9,83],"is":[10,21,62,98,107,127,175,180],"modeled,":[11],"analyzed,":[12],"and":[13,30,50,56,92,115,177,182],"then":[14],"constructed":[15],"in":[16,64,118,165],"this":[17],"study.":[18],"The":[19,60,137],"composed":[22],"of":[23,72,79,96,113,122,134,141,171,188],"a":[24,70,143,155,169],"thin":[25,46],"steel":[26,47],"shell,":[27],"four":[28,31,65,152],"sensors,":[29,154],"shape":[32],"memory":[33],"alloy":[34],"(SMA)":[35],"springs.":[36],"Due":[37],"to":[38,54,130,162,184],"the":[39,43,45,52,73,76,87,90,93,104,111,116,119,132,135,151,172,186,189],"force":[40],"exerted":[41],"SMAs,":[44],"shell":[48],"deforms":[49],"causes":[51],"roll":[55],"move":[57],"forward":[58],"continuously.":[59],"study":[61],"conducted":[63,129,181],"tiers.":[66],"Initially,":[67],"after":[68],"producing":[69],"model":[71],"robot,":[75],"constraint":[77],"conditions":[78],"rolling":[80,105],"actions":[81],"from":[82,150],"are":[84],"analyzed.":[85],"Then,":[86],"relationship":[88],"between":[89],"deformation":[91,112],"heating":[94],"time":[95],"SMAs":[97,114],"studied.":[99],"dynamic":[101,125],"analysis":[102],"on":[103,110,147],"motion":[106],"presented":[108],"based":[109,146],"change":[117],"robot's":[120],"center":[121],"gravity.":[123],"simulation":[126],"also":[128],"test":[131],"feasibility":[133],"theory.":[136,190],"third":[138],"tier":[139],"consists":[140],"designing":[142],"closed-loop":[144],"controller":[145],"feedback":[148],"data":[149],"deformable":[153],"feature":[156],"that":[157],"has":[158],"never":[159],"been":[160],"applied":[161],"robots":[164],"previous":[166],"studies.":[167],"Finally,":[168],"prototype":[170],"built,":[176],"an":[178],"experiment":[179],"compared":[183],"prove":[185],"validity":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}