{"id":"https://openalex.org/W3034316926","doi":"https://doi.org/10.1109/tro.2021.3115230","title":"Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots","display_name":"Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots","publication_year":2021,"publication_date":"2021-10-25","ids":{"openalex":"https://openalex.org/W3034316926","doi":"https://doi.org/10.1109/tro.2021.3115230","mag":"3034316926"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3115230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3115230","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2006.06117","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034706353","display_name":"Laura H. Blumenschein","orcid":"https://orcid.org/0000-0003-0658-5364"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura H. Blumenschein","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","[School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907 USA (e-mail: lhblumen@purdue.edu).]"],"raw_orcid":"https://orcid.org/0000-0003-0658-5364","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"[School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907 USA (e-mail: lhblumen@purdue.edu).]","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051153346","display_name":"Margaret Koehler","orcid":"https://orcid.org/0000-0003-1359-5456"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Margaret Koehler","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Department of Mechanical Engineering, Stanford University, Stanford, CA 94035 USA (e-mail: misk92@gmail.com).]"],"raw_orcid":"https://orcid.org/0000-0003-1359-5456","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Stanford University, Stanford, CA 94035 USA (e-mail: misk92@gmail.com).]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024780312","display_name":"Nathan S. Usevitch","orcid":"https://orcid.org/0000-0002-2199-3334"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan S. Usevitch","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Department of Mechanical Engineering, Stanford University, Stanford, CA 94035 USA (e-mail: usevitch@fb.com).]"],"raw_orcid":"https://orcid.org/0000-0002-2199-3334","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Stanford University, Stanford, CA 94035 USA (e-mail: usevitch@fb.com).]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot Wright Hawkes","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","[Department of Mechanical Engineering, University of California, Santa Barbara, CA 93106 USA (e-mail: ewhawkes@engineering.ucsb.edu).]"],"raw_orcid":"https://orcid.org/0000-0002-0420-5025","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, University of California, Santa Barbara, CA 93106 USA (e-mail: ewhawkes@engineering.ucsb.edu).]","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Caleb Rucker","raw_affiliation_strings":["Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","[Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996 USA (e-mail: drucker6@utk.edu).]"],"raw_orcid":"https://orcid.org/0000-0001-7181-1933","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]},{"raw_affiliation_string":"[Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996 USA (e-mail: drucker6@utk.edu).]","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Department of Mechanical Engineering, Stanford University, Stanford, CA 94035 USA (e-mail: aokamura@stanford.edu).]"],"raw_orcid":"https://orcid.org/0000-0002-6912-1666","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Stanford University, Stanford, CA 94035 USA (e-mail: aokamura@stanford.edu).]","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2177,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.4060706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"38","issue":"3","first_page":"1820","last_page":"1840"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T11486","display_name":"Micro and Nano Robotics","score":0.991100013256073,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9818000197410583,"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":0.7955641150474548},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7309850454330444},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6502547264099121},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5589388012886047},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5263948440551758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4785497784614563},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.44002437591552734},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42077529430389404},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.36080703139305115},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35219722986221313},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3455349802970886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2952559292316437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.274175763130188},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2015048861503601},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1518877148628235},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08269241452217102}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7955641150474548},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7309850454330444},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6502547264099121},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5589388012886047},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5263948440551758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4785497784614563},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.44002437591552734},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42077529430389404},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.36080703139305115},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35219722986221313},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3455349802970886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2952559292316437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.274175763130188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2015048861503601},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1518877148628235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08269241452217102}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2021.3115230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3115230","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"},{"id":"pmh:oai:arXiv.org:2006.06117","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.06117","pdf_url":"https://arxiv.org/pdf/2006.06117","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3034316926","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2006.06117","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2006.06117","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2006.06117","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2006.06117","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.06117","pdf_url":"https://arxiv.org/pdf/2006.06117","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G2452851864","display_name":null,"funder_award_id":"1637446","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G8328187312","display_name":null,"funder_award_id":"1652588","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G8695943503","display_name":null,"funder_award_id":"2024247","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G8700383941","display_name":null,"funder_award_id":"FA2386-17-1-4658","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W759378964","https://openalex.org/W1502686888","https://openalex.org/W1515749184","https://openalex.org/W1696514235","https://openalex.org/W1969107377","https://openalex.org/W1988273910","https://openalex.org/W2005502113","https://openalex.org/W2025613329","https://openalex.org/W2049460350","https://openalex.org/W2053614949","https://openalex.org/W2054427316","https://openalex.org/W2083624955","https://openalex.org/W2092685321","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2129171663","https://openalex.org/W2146947104","https://openalex.org/W2156378823","https://openalex.org/W2165479823","https://openalex.org/W2175612615","https://openalex.org/W2418282907","https://openalex.org/W2419136601","https://openalex.org/W2519012306","https://openalex.org/W2584333411","https://openalex.org/W2734595964","https://openalex.org/W2736778426","https://openalex.org/W2737491236","https://openalex.org/W2773604239","https://openalex.org/W2775054021","https://openalex.org/W2831363072","https://openalex.org/W2883408812","https://openalex.org/W2896056663","https://openalex.org/W2897701932","https://openalex.org/W2909729638","https://openalex.org/W2919013143","https://openalex.org/W2923438774","https://openalex.org/W2942096073","https://openalex.org/W2947164686","https://openalex.org/W2969919508","https://openalex.org/W3003391921","https://openalex.org/W3003868926","https://openalex.org/W3007005079","https://openalex.org/W3008895125","https://openalex.org/W3106042088","https://openalex.org/W3140000252","https://openalex.org/W3150728867","https://openalex.org/W6622141878","https://openalex.org/W6688457136"],"related_works":["https://openalex.org/W3173779786","https://openalex.org/W3003550883","https://openalex.org/W3155384193","https://openalex.org/W2896978180","https://openalex.org/W2890291403","https://openalex.org/W2949290673","https://openalex.org/W2948184123","https://openalex.org/W3092800109","https://openalex.org/W2774048936","https://openalex.org/W3177948784","https://openalex.org/W3036038141","https://openalex.org/W2044559580","https://openalex.org/W3138435325","https://openalex.org/W1987076896","https://openalex.org/W2733701422","https://openalex.org/W2889879939","https://openalex.org/W2044171547","https://openalex.org/W3127873569","https://openalex.org/W3175233056","https://openalex.org/W3130189191"],"abstract_inverted_index":{"Continuum":[0,24],"and":[1,36,140,188],"soft":[2,95,177],"robots":[3,56,75,180],"can":[4,33,130],"leverage":[5],"complex":[6,48],"actuator":[7,161],"shapes":[8,12,31,115],"to":[9,40,80,181],"take":[10],"onuseful":[11],"while":[13],"actuating":[14],"only":[15,117],"a":[16,94],"few":[17],"of":[18,22,29,54,68,87,98,112,119,122,135,153,185],"their":[19],"many":[20],"degrees":[21],"freedom.":[23],"robotsthat":[25],"alsogrow":[26],"increasethe":[27],"range":[28],"potential":[30],"that":[32,127],"be":[34],"actuated":[35],"enable":[37],"easier":[38],"access":[39],"constrained":[41],"environments.":[42],"Existing":[43],"models":[44,86],"for":[45,109,157],"describing":[46],"the":[47,65,69,113,120,123,133,136,142,151,183],"kinematics":[49],"involved":[50],"in":[51,73],"general":[52],"actuation":[53,146],"continuum":[55],"rely":[57],"on":[58,93,166,176],"simulation":[59],"or":[60],"well-behaved":[61],"stress\u2013strain":[62],"relationships,":[63],"but":[64,100],"nonlinear":[66],"behavior":[67],"thin-walled":[70],"inflated-beams":[71],"used":[72],"growing":[74,179],"makes":[76],"these":[77,173],"techniques":[78],"difficult":[79],"apply.":[81],"Here,":[82],"we":[83],"derive":[84],"kinematic":[85,155],"single,":[88],"generally":[89],"routed":[90],"tendon":[91],"paths":[92],"pneumatic":[96,178],"backbone":[97],"inextensible":[99],"flexible":[101],"material":[102],"from":[103],"geometric":[104],"relationships":[105],"alone.":[106],"This":[107],"allows":[108],"forward":[110],"modeling":[111],"resulting":[114],"with":[116,145],"knowledge":[118],"geometry":[121],"system.":[124],"We":[125,148,171],"show":[126,182],"this":[128,154],"model":[129,143,156],"accurately":[131],"predict":[132],"shape":[134,189],"whole":[137],"robot":[138,169],"body":[139],"how":[141],"changes":[144],"type.":[147],"also":[149],"demonstrate":[150],"use":[152],"inverse":[158],"design,":[159],"where":[160],"designs":[162],"are":[163],"found":[164],"based":[165],"desired":[167],"final":[168],"shapes.":[170],"deploy":[172],"designed":[174],"actuators":[175],"benefits":[184],"simultaneous":[186],"growth":[187],"change.":[190]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
