{"id":"https://openalex.org/W4412964352","doi":"https://doi.org/10.1109/ur65550.2025.11078082","title":"Body-Induced Soft Robotic Locomotion: a Sim-To-Real Approach","display_name":"Body-Induced Soft Robotic Locomotion: a Sim-To-Real Approach","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4412964352","doi":"https://doi.org/10.1109/ur65550.2025.11078082"},"language":"en","primary_location":{"id":"doi:10.1109/ur65550.2025.11078082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5037776292","display_name":"Z. Franklin Wang","orcid":"https://orcid.org/0000-0001-9975-9196"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaosen Wang","raw_affiliation_strings":["Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77843"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77843","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070442378","display_name":"Sanjaya Mallikarachchi","orcid":"https://orcid.org/0000-0001-7190-5876"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjaya Mallikarachchi","raw_affiliation_strings":["Texas A&M University,Department of Multidisciplinary Engineering,College Station,TX,USA,77843"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Multidisciplinary Engineering,College Station,TX,USA,77843","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008534789","display_name":"Dimuthu D. K. Arachchige","orcid":"https://orcid.org/0000-0001-9055-8507"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dimuthu D. K. Arachchige","raw_affiliation_strings":["University of Illinois Chicago,Department of Mechanical & Industrial Engineering,Chicago,IL,USA,60607"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago,Department of Mechanical & Industrial Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041991391","display_name":"Dulanjana M. Perera","orcid":"https://orcid.org/0000-0002-6930-3988"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dulanjana M. Perera","raw_affiliation_strings":["Texas A&M University,Department of Multidisciplinary Engineering,College Station,TX,USA,77843"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Multidisciplinary Engineering,College Station,TX,USA,77843","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119213337","display_name":"Phanindrateja Thammi","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phanindrateja Thammi","raw_affiliation_strings":["Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77843"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77843","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026038506","display_name":"Isuru S. Godage","orcid":"https://orcid.org/0000-0001-6112-0813"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Isuru S. Godage","raw_affiliation_strings":["Texas A&M University,Department of Engineering Technology & Industrial Distribution, J. Mike Walker '66, Department of Mechanical Engineering (affiliated), and Department of Multidisciplinary Engineering (affiliated),College Station,TX,USA,77843"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Engineering Technology & Industrial Distribution, J. Mike Walker '66, Department of Mechanical Engineering (affiliated), and Department of Multidisciplinary Engineering (affiliated),College Station,TX,USA,77843","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23745268,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"535","last_page":"541"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9926999807357788,"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/soft-robotics","display_name":"Soft robotics","score":0.5592930912971497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5402538180351257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46181878447532654},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.383969247341156},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.350830078125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3085852861404419}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5592930912971497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5402538180351257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46181878447532654},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.383969247341156},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.350830078125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3085852861404419}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur65550.2025.11078082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8915981051","display_name":"CAREER: Transformable and Reconfigurable Soft Robots","funder_award_id":"2326536","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1925606516","https://openalex.org/W2049011773","https://openalex.org/W2149694982","https://openalex.org/W2761103457","https://openalex.org/W2901136733","https://openalex.org/W2937885510","https://openalex.org/W2954869634","https://openalex.org/W2963489869","https://openalex.org/W2967427547","https://openalex.org/W3136821044","https://openalex.org/W3170498473","https://openalex.org/W3194235646","https://openalex.org/W3212580602","https://openalex.org/W3214770915","https://openalex.org/W4226071493","https://openalex.org/W4311525005","https://openalex.org/W4376605729","https://openalex.org/W4381746316","https://openalex.org/W4381999352","https://openalex.org/W4390099513","https://openalex.org/W4391678252","https://openalex.org/W4391827377","https://openalex.org/W4392667207","https://openalex.org/W4396875103","https://openalex.org/W4401692962","https://openalex.org/W4408697484","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Soft":[0],"robots,":[1],"valued":[2],"for":[3,96,150],"their":[4,11],"compliance":[5],"and":[6,77,126,147],"deformable":[7],"nature,":[8],"have":[9],"demonstrated":[10],"outstanding":[12],"abilities":[13],"in":[14,53],"complex":[15],"environments.":[16],"However,":[17],"the":[18,37,75,108,112,118,122],"nonlinear":[19],"dynamics":[20,110],"make":[21],"it":[22],"challenging":[23],"to":[24,36,106,116,158,171],"derive":[25],"efficient":[26],"locomotion":[27,82,133],"patterns":[28],"from":[29],"analytical":[30],"methods.":[31],"This":[32,139],"is":[33,104],"largely":[34],"due":[35],"high":[38],"computational":[39,56],"cost":[40],"associated":[41],"with":[42,93,111],"simulating":[43],"soft-bodied":[44],"models.":[45],"Conversely,":[46],"rigid-body":[47],"models,":[48],"such":[49],"as":[50],"those":[51],"used":[52],"Gazebo,":[54],"offer":[55],"efficiency":[57],"but":[58],"cannot":[59],"directly":[60],"represent":[61],"soft":[62,80,114],"robots.":[63],"We":[64],"address":[65],"these":[66],"challenges":[67],"by":[68,88],"introducing":[69],"customized":[70],"Gazebo":[71],"plugins":[72,85],"that":[73,135],"enable":[74],"simulation":[76,109,124],"analysis":[78],"of":[79],"robot":[81,115,148],"dynamics.":[83],"These":[84],"are":[86],"complemented":[87],"a":[89,131,164],"novel":[90],"JointStiffnessPlugin,":[91],"integrated":[92],"ROS":[94],"services,":[95],"fine-tuning":[97],"effort-controlled":[98],"parameters.":[99],"The":[100],"system":[101],"identification":[102],"process":[103],"followed":[105],"match":[107],"real":[113],"minimize":[117],"sim-to-real":[119],"gap.":[120],"Utilizing":[121],"proposed":[123],"framework":[125],"Bayesian":[127],"Optimization,":[128],"we":[129],"derived":[130],"body-induced":[132],"strategy":[134],"achieves":[136],"enhanced":[137],"efficiency.":[138],"strategy,":[140],"relying":[141],"solely":[142],"on":[143],"periodic":[144],"spine":[145],"bending":[146],"pose":[149],"forward":[151],"propulsion,":[152],"demonstrably":[153],"reduces":[154],"energy":[155,167],"consumption":[156],"compared":[157],"conventional":[159],"gaits.":[160],"Experimental":[161],"results":[162],"confirm":[163],"42":[165],"%":[166],"expenditure":[168],"reduction":[169],"relative":[170],"four-legged":[172],"crawling.":[173]},"counts_by_year":[],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}