{"id":"https://openalex.org/W4392907513","doi":"https://doi.org/10.1115/1.4065091","title":"Helical Actuator\u2013Driven Inchworm Robot Design and Prototype","display_name":"Helical Actuator\u2013Driven Inchworm Robot Design and Prototype","publication_year":2024,"publication_date":"2024-03-18","ids":{"openalex":"https://openalex.org/W4392907513","doi":"https://doi.org/10.1115/1.4065091"},"language":"en","primary_location":{"id":"doi:10.1115/1.4065091","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4065091","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","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/A5031849086","display_name":"Joel Quarnstrom","orcid":null},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joel Quarnstrom","raw_affiliation_strings":["Oklahoma State University Department of Mechanical and Aerospace Engineering, , 300 Engineering South, Stillwater, OK 74078"],"affiliations":[{"raw_affiliation_string":"Oklahoma State University Department of Mechanical and Aerospace Engineering, , 300 Engineering South, Stillwater, OK 74078","institution_ids":["https://openalex.org/I115475287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034688335","display_name":"Yujiang Xiang","orcid":"https://orcid.org/0000-0003-0866-2802"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yujiang Xiang","raw_affiliation_strings":["Oklahoma State University Department of Mechanical and Aerospace Engineering, , 300 Engineering South, Stillwater, OK 74078"],"affiliations":[{"raw_affiliation_string":"Oklahoma State University Department of Mechanical and Aerospace Engineering, , 300 Engineering South, Stillwater, OK 74078","institution_ids":["https://openalex.org/I115475287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031849086"],"corresponding_institution_ids":["https://openalex.org/I115475287"],"apc_list":null,"apc_paid":null,"fwci":0.196,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43248576,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"24","issue":"5","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9944999814033508,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9944999814033508,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9939000010490417,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9869999885559082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8262282609939575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6401495933532715},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48338475823402405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4780355393886566},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.43259117007255554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43210598826408386},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3486837148666382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20385637879371643}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8262282609939575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6401495933532715},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48338475823402405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4780355393886566},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.43259117007255554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43210598826408386},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3486837148666382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20385637879371643}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1115/1.4065091","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4065091","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1497432085","https://openalex.org/W1537482913","https://openalex.org/W1570238144","https://openalex.org/W2046768953","https://openalex.org/W2191649932","https://openalex.org/W2341386190","https://openalex.org/W2605431040","https://openalex.org/W2784911769","https://openalex.org/W2793380344","https://openalex.org/W2898938415","https://openalex.org/W2910779705","https://openalex.org/W2946329969","https://openalex.org/W2985132074","https://openalex.org/W3000349433","https://openalex.org/W3009871516","https://openalex.org/W3016344450","https://openalex.org/W3022997146","https://openalex.org/W3027926606","https://openalex.org/W3071849765","https://openalex.org/W3202558170","https://openalex.org/W3217327994","https://openalex.org/W4200240534","https://openalex.org/W4220882340","https://openalex.org/W4310534365","https://openalex.org/W4311008821","https://openalex.org/W4317373359","https://openalex.org/W4319158011","https://openalex.org/W4367838923","https://openalex.org/W4386175711","https://openalex.org/W6805203717"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"Abstract":[0],"Bio-inspired":[1],"robots":[2],"provide":[3],"solutions":[4],"in":[5,20,113,154],"many":[6],"applications.":[7],"Robots":[8],"that":[9,34,47,174,211],"can":[10],"traverse":[11],"and":[12,25,36,68,93,117,132,143,177,191,206],"transport":[13],"materials":[14],"through":[15,74],"confined":[16],"areas":[17],"are":[18,48,186],"useful":[19],"disaster":[21],"response,":[22],"mining,":[23],"mapping,":[24],"tunneling.":[26],"The":[27,124,165],"proposed":[28],"robot":[29,33,125,170,202,229],"is":[30,141,146,153,160,171,230],"an":[31,129],"inchworm-inspired":[32],"contracts":[35],"expands":[37],"its":[38,66],"body":[39],"segments":[40],"to":[41,50,55,65,72,88,162,220],"move.":[42],"It":[43,58],"has":[44,59,203,209],"spiky":[45],"feet":[46,152],"angled":[49],"only":[51],"allow":[52],"each":[53,137,149,180,194],"foot":[54,140,145,213],"slide":[56],"forward.":[57,222],"a":[60,133],"small":[61],"frontal":[62],"area":[63],"compared":[64],"length,":[67],"this":[69,115,228],"allows":[70,217],"it":[71],"travel":[73],"tight":[75],"gaps":[76],"or":[77],"tunnels.":[78],"Each":[79],"segment":[80],"uses":[81],"two":[82],"helical":[83,97],"actuators":[84,98],"as":[85],"prismatic":[86],"linkages":[87],"drive":[89],"both":[90],"forward":[91],"movement":[92,195],"turning":[94,225],"movement.":[95],"These":[96],"transform":[99],"the":[100,151,156,169,175,182,189,201,212,218,224],"rotation":[101],"of":[102,128,150,168,179,181,193,200,227],"stepper":[103],"motors":[104],"into":[105],"linear":[106],"motion.":[107],"Many":[108],"linkage":[109],"configurations":[110],"were":[111],"considered":[112],"designing":[114],"robot,":[116],"one":[118,139,144],"without":[119],"continuous":[120],"singularities":[121],"was":[122],"selected.":[123],"stride":[126],"consists":[127],"extension":[130],"phase":[131],"contraction":[134],"phase.":[135,196],"In":[136],"phase,":[138],"stationary,":[142],"moving.":[147],"When":[148],"motion,":[155],"ground":[157],"reaction":[158],"force":[159],"assumed":[161],"be":[163],"zero.":[164],"motion":[166],"planning":[167],"designed":[172],"so":[173],"velocity":[176],"acceleration":[178],"robot's":[183],"rigid":[184],"bodies":[185],"zero":[187],"at":[188],"beginning":[190],"end":[192],"A":[197],"3D-printed":[198],"prototype":[199],"been":[204],"manufactured,":[205],"initial":[207],"testing":[208],"shown":[210],"spike":[214],"design":[215],"successfully":[216],"inchworm":[219],"shuffle":[221],"Testing":[223],"capabilities":[226],"ongoing.":[231]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}