{"id":"https://openalex.org/W4409494218","doi":"https://doi.org/10.1109/lra.2025.3561572","title":"Soft Growing Robot Explore Unknown Environments Through Obstacle Interaction","display_name":"Soft Growing Robot Explore Unknown Environments Through Obstacle Interaction","publication_year":2025,"publication_date":"2025-04-16","ids":{"openalex":"https://openalex.org/W4409494218","doi":"https://doi.org/10.1109/lra.2025.3561572"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3561572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3561572","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5102736425","display_name":"Haoran Wu","orcid":"https://orcid.org/0000-0003-1655-4334"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Wu","raw_affiliation_strings":["School of Instrument and Optoelectronics Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1655-4334","affiliations":[{"raw_affiliation_string":"School of Instrument and Optoelectronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3546-6305","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Canwei Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Canwei Huang","raw_affiliation_strings":["College of Electronics and Information Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haiming Huang","orcid":"https://orcid.org/0000-0003-1104-2444"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiming Huang","raw_affiliation_strings":["College of Electronics and Information Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1104-2444","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076758401","display_name":"Zhongyi Chu","orcid":"https://orcid.org/0000-0003-2129-2615"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongyi Chu","raw_affiliation_strings":["School of Instrument and Optoelectronics Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2129-2615","affiliations":[{"raw_affiliation_string":"School of Instrument and Optoelectronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0727,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85130159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"10","issue":"6","first_page":"6015","last_page":"6022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9969000220298767,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9873999953269958,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9628999829292297,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8543751239776611},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5886901021003723},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5400121808052063},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.469622403383255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3937355577945709},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32537925243377686},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19239071011543274}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8543751239776611},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5886901021003723},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5400121808052063},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.469622403383255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3937355577945709},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32537925243377686},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19239071011543274},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3561572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3561572","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1547842959","display_name":null,"funder_award_id":"62173233","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1745524588","display_name":null,"funder_award_id":"2020GQG0006","funder_id":"https://openalex.org/F3230804744","funder_display_name":"Guoqiang Institute, Tsinghua University"},{"id":"https://openalex.org/G6888254392","display_name":null,"funder_award_id":"52375006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F3230804744","display_name":"Guoqiang Institute, Tsinghua University","ror":null},{"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":34,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W2031672365","https://openalex.org/W2034801091","https://openalex.org/W2074500385","https://openalex.org/W2095553972","https://openalex.org/W2151435703","https://openalex.org/W2198527813","https://openalex.org/W2544641369","https://openalex.org/W2732249944","https://openalex.org/W2736778426","https://openalex.org/W2737491236","https://openalex.org/W2779277820","https://openalex.org/W2890088732","https://openalex.org/W2896056663","https://openalex.org/W2919013143","https://openalex.org/W2946178351","https://openalex.org/W2946871295","https://openalex.org/W2969919508","https://openalex.org/W2981460880","https://openalex.org/W3003868926","https://openalex.org/W3008066039","https://openalex.org/W3008895125","https://openalex.org/W3091557774","https://openalex.org/W3132227494","https://openalex.org/W3180843459","https://openalex.org/W3204387335","https://openalex.org/W4200083068","https://openalex.org/W4320730478","https://openalex.org/W4321435273","https://openalex.org/W4389667043","https://openalex.org/W4389667348","https://openalex.org/W4396638264","https://openalex.org/W4399526664","https://openalex.org/W6853806127"],"related_works":["https://openalex.org/W2126807813","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"],"abstract_inverted_index":{"In":[0,136],"low-light,":[1],"unstructured,":[2],"and":[3,9,25,73,89,131],"confined":[4],"environments,":[5],"performing":[6],"Simultaneous":[7],"Localization":[8],"Mapping":[10],"(SLAM)":[11],"with":[12,29,81,157],"conventional":[13],"methods":[14],"presents":[15],"significant":[16],"challenges.":[17],"Soft":[18],"growing":[19,63,116],"robots,":[20],"characterized":[21],"by":[22,123],"their":[23],"compliance":[24],"extensibility,":[26],"interact":[27],"safely":[28],"the":[30,43,57,61,86,99,114,140,149],"environment,":[31],"making":[32],"them":[33],"well-suited":[34],"for":[35,110],"navigation":[36],"in":[37],"such":[38],"environments.":[39],"Through":[40],"collision-based":[41],"guidance,":[42],"robot":[44,76,119],"can":[45],"gather":[46],"environmental":[47,71,111,129,138,155],"data":[48,130],"via":[49],"morphological":[50],"adaptations.":[51],"Based":[52],"on":[53,127],"this,":[54],"we":[55,104],"developed":[56],"sensing":[58,93],"capabilities":[59],"of":[60,113,148],"soft":[62,115],"robot,":[64],"retaining":[65],"its":[66],"flexibility":[67],"while":[68],"enabling":[69,153],"effective":[70],"interaction":[72],"perception.":[74],"The":[75,118],"employs":[77],"a":[78,106],"gyroscope":[79],"combined":[80],"an":[82],"encoder":[83],"to":[84,94],"track":[85],"end-effector":[87],"trajectory":[88],"uses":[90],"flexible":[91],"proximity":[92],"detect":[95],"obstacles.":[96],"By":[97],"fusing":[98],"information":[100],"from":[101],"these":[102],"sensors,":[103],"propose":[105],"multi-sensor":[107],"fusion":[108],"strategy":[109],"exploration":[112,159],"robot.":[117],"navigates":[120],"unknown":[121],"environments":[122],"employing":[124],"pre-bending":[125],"based":[126],"prior":[128],"utilizing":[132],"pneumatic":[133],"artificial":[134],"muscles.":[135],"multi-obstacle":[137],"exploration,":[139],"path":[141],"prediction":[142],"error":[143],"is":[144],"less":[145],"than":[146],"3.5%":[147],"robot's":[150],"total":[151],"length,":[152],"greater":[154],"coverage":[156],"fewer":[158],"attempts":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}