{"id":"https://openalex.org/W4285102287","doi":"https://doi.org/10.1109/icra46639.2022.9812286","title":"Modeling the dynamics of soft robots by discs and threads","display_name":"Modeling the dynamics of soft robots by discs and threads","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102287","doi":"https://doi.org/10.1109/icra46639.2022.9812286"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812286","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-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/A5037750952","display_name":"Joshua Schultz","orcid":"https://orcid.org/0000-0002-2311-8656"},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joshua A. Schultz","raw_affiliation_strings":["The University of Tulsa,Department of Mechanical Engineering,Tulsa,OK,74104"],"affiliations":[{"raw_affiliation_string":"The University of Tulsa,Department of Mechanical Engineering,Tulsa,OK,74104","institution_ids":["https://openalex.org/I87208437"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110514908","display_name":"Haley Sanders","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haley Sanders","raw_affiliation_strings":["Brigham Young University,Department of Mechanical Engineering,Provo,UT","Department of Mechanical Engineering, Brigham Young University, Provo, UT"],"affiliations":[{"raw_affiliation_string":"Brigham Young University,Department of Mechanical Engineering,Provo,UT","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, Provo, UT","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079942958","display_name":"Bui Duc Hong Phuc","orcid":"https://orcid.org/0000-0001-5672-6888"},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phuc Duc Hong Bui","raw_affiliation_strings":["The University of Tulsa,Department of Mechanical Engineering,Tulsa,OK,74104"],"affiliations":[{"raw_affiliation_string":"The University of Tulsa,Department of Mechanical Engineering,Tulsa,OK,74104","institution_ids":["https://openalex.org/I87208437"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017511487","display_name":"Brett Layer","orcid":"https://orcid.org/0009-0001-9372-2330"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brett Layer","raw_affiliation_strings":["Brigham Young University,Department of Mechanical Engineering,Provo,UT","Department of Mechanical Engineering, Brigham Young University, Provo, UT"],"affiliations":[{"raw_affiliation_string":"Brigham Young University,Department of Mechanical Engineering,Provo,UT","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, Provo, UT","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079459715","display_name":"Marc D. Killpack","orcid":"https://orcid.org/0000-0001-9372-104X"},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marc Killpack","raw_affiliation_strings":["Brigham Young University,Department of Mechanical Engineering,Provo,UT","Department of Mechanical Engineering, Brigham Young University, Provo, UT"],"affiliations":[{"raw_affiliation_string":"Brigham Young University,Department of Mechanical Engineering,Provo,UT","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, Provo, UT","institution_ids":["https://openalex.org/I100005738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5037750952"],"corresponding_institution_ids":["https://openalex.org/I87208437"],"apc_list":null,"apc_paid":null,"fwci":2.2445,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.88850332,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3223","last_page":"3229"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.993399977684021,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"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":0.7513747811317444},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6507558226585388},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6173722743988037},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.5359474420547485},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5174030065536499},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.47222447395324707},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4620266556739807},{"id":"https://openalex.org/keywords/lagrangian-mechanics","display_name":"Lagrangian mechanics","score":0.42646342515945435},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3557191789150238},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3481366038322449},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3200197219848633},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30560749769210815},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2252633273601532},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19237127900123596},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14002355933189392}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7513747811317444},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6507558226585388},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6173722743988037},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.5359474420547485},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5174030065536499},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.47222447395324707},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4620266556739807},{"id":"https://openalex.org/C499771625","wikidata":"https://www.wikidata.org/wiki/Q324669","display_name":"Lagrangian mechanics","level":5,"score":0.42646342515945435},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3557191789150238},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3481366038322449},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3200197219848633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30560749769210815},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2252633273601532},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19237127900123596},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14002355933189392},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812286","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G8899903957","display_name":null,"funder_award_id":"1935312","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":25,"referenced_works":["https://openalex.org/W41341799","https://openalex.org/W139131351","https://openalex.org/W1964359378","https://openalex.org/W2022846469","https://openalex.org/W2060978823","https://openalex.org/W2081422365","https://openalex.org/W2097770951","https://openalex.org/W2166585449","https://openalex.org/W2216138881","https://openalex.org/W2337157527","https://openalex.org/W2562256358","https://openalex.org/W2603097910","https://openalex.org/W2897782084","https://openalex.org/W2898563784","https://openalex.org/W2991348633","https://openalex.org/W2993799976","https://openalex.org/W3010844811","https://openalex.org/W3131591517","https://openalex.org/W3181469748","https://openalex.org/W3182158844","https://openalex.org/W3207943255","https://openalex.org/W3209918827","https://openalex.org/W4251181231","https://openalex.org/W6688302930","https://openalex.org/W6755850732"],"related_works":["https://openalex.org/W2804174466","https://openalex.org/W2412911125","https://openalex.org/W2152990685","https://openalex.org/W2244046464","https://openalex.org/W4245654528","https://openalex.org/W4205459004","https://openalex.org/W3104974421","https://openalex.org/W2044431373","https://openalex.org/W3023526027","https://openalex.org/W2945149751"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,24,60,159],"new":[6],"tractable":[7],"ordinary":[8],"differential":[9],"equation":[10],"formulation":[11,53],"for":[12,70,126],"dynamic":[13,56],"simulation":[14,137],"of":[15,27,50,54,58,73,82,124,158],"fabric-":[16],"reinforced":[17],"inflatable":[18],"soft":[19,114],"robots.":[20,115],"The":[21,75,84,116],"method":[22,61,76],"performs":[23],"lumped-parameter":[25],"discretization":[26],"the":[28,40,45,48,51,55,71,91,127,143,156,170],"continuum":[29],"robot":[30],"into":[31],"discrete":[32],"discs":[33],"(inertia),":[34],"spring":[35],"elements,":[36],"and":[37,101,106,133,141,154,167],"threads":[38],"(representing":[39],"inextensible":[41],"fabric":[42],"reinforcement).":[43],"Using":[44],"repetition":[46],"in":[47,112,173],"structure":[49],"Lagrangian":[52,132],"equations":[57,72,123],"motion,":[59],"is":[62,109],"developed":[63],"that":[64,108],"outputs":[65],"machine-":[66],"readable":[67],"analytical":[68,144],"expressions":[69,117,145],"motion.":[74],"does":[77],"not":[78],"require":[79],"symbolic":[80],"computation":[81],"derivatives.":[83],"recursive":[85],"nature":[86],"allows":[87],"us":[88],"to":[89,93,151],"scale":[90],"model":[92],"an":[94],"arbitrary":[95],"number":[96],"<tex":[97],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[98],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$N$</tex>":[99],"discs,":[100],"can":[102],"represent":[103],"buckling,":[104],"twisting,":[105],"pleating":[107],"commonly":[110],"seen":[111],"very":[113],"generated":[118,146],"were":[119],"validated":[120],"against":[121],"manually-derived":[122],"motion":[125],"two-disc":[128],"case":[129],"using":[130],"both":[131],"Newton-Euler":[134],"means.":[135],"A":[136],"environment":[138],"which":[139],"parses":[140],"evaluates":[142],"at":[147],"run-time":[148],"was":[149],"used":[150],"numerically":[152],"integrate":[153],"predict":[155],"response":[157],"four-disc":[160],"example":[161],"robot.":[162],"Trajectories":[163],"observed":[164],"varied":[165],"smoothly":[166],"plausibly":[168],"predicted":[169],"behavior":[171],"envisioned":[172],"robots":[174],"like":[175],"these.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
