{"id":"https://openalex.org/W3120258062","doi":"https://doi.org/10.1109/tro.2020.3043654","title":"Automated Routing of Muscle Fibers for Soft Robots","display_name":"Automated Routing of Muscle Fibers for Soft Robots","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3120258062","doi":"https://doi.org/10.1109/tro.2020.3043654","mag":"3120258062"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.3043654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3043654","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5085908939","display_name":"Guirec Maloisel","orcid":"https://orcid.org/0000-0003-3554-422X"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Guirec Maloisel","raw_affiliation_strings":["Disney Research, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3554-422X","affiliations":[{"raw_affiliation_string":"Disney Research, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I4210137357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004395634","display_name":"Espen Knoop","orcid":"https://orcid.org/0000-0002-7440-5655"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Espen Knoop","raw_affiliation_strings":["Disney Research, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7440-5655","affiliations":[{"raw_affiliation_string":"Disney Research, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I4210137357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912923","display_name":"Christian Schumacher","orcid":"https://orcid.org/0000-0001-7975-1680"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Christian Schumacher","raw_affiliation_strings":["Disney Research, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-7975-1680","affiliations":[{"raw_affiliation_string":"Disney Research, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I4210137357"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005916572","display_name":"Moritz B\u00e4cher","orcid":"https://orcid.org/0000-0002-1952-1266"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Moritz Bacher","raw_affiliation_strings":["Disney Research, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-1952-1266","affiliations":[{"raw_affiliation_string":"Disney Research, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I4210137357"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085908939"],"corresponding_institution_ids":["https://openalex.org/I4210137357"],"apc_list":null,"apc_paid":null,"fwci":1.9521,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.85025947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"37","issue":"3","first_page":"996","last_page":"1008"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9980000257492065,"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/robot","display_name":"Robot","score":0.6978158950805664},{"id":"https://openalex.org/keywords/hyperelastic-material","display_name":"Hyperelastic material","score":0.5518817901611328},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5150082111358643},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5089492797851562},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.502877414226532},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.5020313262939453},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.4807598292827606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47266945242881775},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3557029962539673},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3410555124282837},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33341312408447266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2692473530769348},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2539386749267578},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1366785764694214}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6978158950805664},{"id":"https://openalex.org/C147370603","wikidata":"https://www.wikidata.org/wiki/Q3801506","display_name":"Hyperelastic material","level":3,"score":0.5518817901611328},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5150082111358643},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5089492797851562},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.502877414226532},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.5020313262939453},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.4807598292827606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47266945242881775},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3557029962539673},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3410555124282837},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33341312408447266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2692473530769348},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2539386749267578},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1366785764694214},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2020.3043654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3043654","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320317686","display_name":"Disney Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W156601880","https://openalex.org/W211888945","https://openalex.org/W1983449914","https://openalex.org/W1983512267","https://openalex.org/W2002879376","https://openalex.org/W2025164704","https://openalex.org/W2025613329","https://openalex.org/W2027454283","https://openalex.org/W2027783854","https://openalex.org/W2035932952","https://openalex.org/W2059844941","https://openalex.org/W2059958340","https://openalex.org/W2070662831","https://openalex.org/W2073677587","https://openalex.org/W2079423956","https://openalex.org/W2083933388","https://openalex.org/W2111689525","https://openalex.org/W2116820576","https://openalex.org/W2165479823","https://openalex.org/W2396596466","https://openalex.org/W2433260944","https://openalex.org/W2507418807","https://openalex.org/W2515930553","https://openalex.org/W2561609334","https://openalex.org/W2566419587","https://openalex.org/W2736676485","https://openalex.org/W2736736250","https://openalex.org/W2738703359","https://openalex.org/W2768622779","https://openalex.org/W2770227623","https://openalex.org/W2774365095","https://openalex.org/W2902099625","https://openalex.org/W2947322213","https://openalex.org/W2947657504","https://openalex.org/W2947733861","https://openalex.org/W2954823475","https://openalex.org/W2997289456","https://openalex.org/W3029645440","https://openalex.org/W4293775970","https://openalex.org/W6608631664"],"related_works":["https://openalex.org/W2061848878","https://openalex.org/W1968309858","https://openalex.org/W2104362930","https://openalex.org/W2137750971","https://openalex.org/W1631138302","https://openalex.org/W3198778559","https://openalex.org/W3178844618","https://openalex.org/W2255905369","https://openalex.org/W2158060137","https://openalex.org/W2042019706"],"abstract_inverted_index":{"This":[0],"article":[1],"introduces":[2],"a":[3,20,26,30,55,68,77,96,112,142,158,161,164],"computational":[4],"approach":[5],"for":[6,58],"routing":[7,39],"thin":[8],"artificial":[9],"muscle":[10],"actuators":[11],"through":[12],"hyperelastic":[13,79],"soft":[14,125,153],"robots,":[15],"in":[16,67,111,137,152],"order":[17],"to":[18,45],"achieve":[19],"desired":[21],"deformation":[22,103],"behavior.":[23],"Provided":[24],"with":[25,116],"robot":[27],"design":[28,120],"and":[29,42,163],"set":[31],"of":[32,40,134,149],"example":[33,47],"deformations,":[34],"we":[35,94,130,156],"continuously":[36],"co-optimize":[37],"the":[38,74,102,117,132,147],"actuators,":[41],"their":[43,62],"actuation,":[44],"approximate":[46],"deformations":[48,140],"as":[49,51],"closely":[50],"possible.":[52],"We":[53],"introduce":[54],"data-driven":[56],"model":[57],"McKibben":[59],"muscles,":[60],"modeling":[61],"contraction":[63],"behavior":[64],"when":[65],"embedded":[66],"silicone":[69],"elastomer":[70],"matrix.":[71],"To":[72,145],"enable":[73],"automated":[75],"routing,":[76],"differentiable":[78,90],"material":[80],"simulation":[81],"is":[82],"presented.":[83],"Because":[84],"standard":[85],"finite":[86],"elements":[87],"are":[88,109],"not":[89],"at":[91],"element":[92],"boundaries,":[93],"implement":[95],"moving":[97],"least":[98],"squares":[99],"formulation,":[100],"making":[101],"gradient":[104],"twice":[105],"differentiable.":[106],"Our":[107],"robots":[108],"fabricated":[110],"two-step":[113],"molding":[114],"process,":[115],"complex":[118],"mold":[119],"steps":[121],"automated.":[122],"While":[123],"most":[124],"robotic":[126,154],"designs":[127],"utilize":[128],"bending,":[129],"study":[131],"use":[133],"our":[135,150],"technique":[136,151],"approximating":[138],"twisting":[139],"on":[141],"bar":[143],"example.":[144],"demonstrate":[146],"efficacy":[148],"design,":[155],"show":[157],"continuum":[159],"robot,":[160],"tentacle,":[162],"four-legged":[165],"walking":[166],"robot.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-11T08:15:01.531666","created_date":"2025-10-10T00:00:00"}