{"id":"https://openalex.org/W3130851859","doi":"https://doi.org/10.1109/iros45743.2020.9341351","title":"An untethered soft cellular robot with variable volume, friction, and unit-to-unit cohesion","display_name":"An untethered soft cellular robot with variable volume, friction, and unit-to-unit cohesion","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130851859","doi":"https://doi.org/10.1109/iros45743.2020.9341351","mag":"3130851859"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341351","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5062929448","display_name":"Matthew R. Devlin","orcid":"https://orcid.org/0000-0003-0387-9447"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"funder","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew R. Devlin","raw_affiliation_strings":["University of California, Santa Barbara, CA"],"affiliations":[{"raw_affiliation_string":"University of California, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033739018","display_name":"Brad T. Young","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"funder","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brad T. Young","raw_affiliation_strings":["College of Engineering, University of California, Santa Barbara, CA"],"affiliations":[{"raw_affiliation_string":"College of Engineering, University of California, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059463904","display_name":"Nicholas D. Naclerio","orcid":"https://orcid.org/0000-0002-7337-3014"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"funder","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas D. Naclerio","raw_affiliation_strings":["University of California, Santa Barbara, CA"],"affiliations":[{"raw_affiliation_string":"University of California, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012629867","display_name":"David A. Haggerty","orcid":"https://orcid.org/0000-0002-9393-6865"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"funder","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David A. Haggerty","raw_affiliation_strings":["University of California, Santa Barbara, CA"],"affiliations":[{"raw_affiliation_string":"University of California, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"last","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":"funder","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot W. Hawkes","raw_affiliation_strings":["University of California, Santa Barbara, CA"],"affiliations":[{"raw_affiliation_string":"University of California, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.401,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.735827,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":78,"max":80},"biblio":{"volume":"567","issue":null,"first_page":"3333","last_page":"3339"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9999,"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":0.9999,"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":0.9993,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987,"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":0.6162987},{"id":"https://openalex.org/keywords/control-unit","display_name":"Control unit","score":0.4275594},{"id":"https://openalex.org/keywords/cohesion","display_name":"Cohesion (chemistry)","score":0.42268035}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6162987},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6051345},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.53331697},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.52476835},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.52367777},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49037075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4828275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43762752},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42848048},{"id":"https://openalex.org/C81988521","wikidata":"https://www.wikidata.org/wiki/Q676838","display_name":"Control unit","level":2,"score":0.4275594},{"id":"https://openalex.org/C104054115","wikidata":"https://www.wikidata.org/wiki/Q216828","display_name":"Cohesion (chemistry)","level":2,"score":0.42268035},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41024742},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3216697},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341351","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":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":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, justice, and strong institutions","score":0.72,"id":"https://metadata.un.org/sdg/16"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1928929119","https://openalex.org/W1964509559","https://openalex.org/W1969955805","https://openalex.org/W1982636603","https://openalex.org/W1998564308","https://openalex.org/W2007904825","https://openalex.org/W2040589674","https://openalex.org/W2145672288","https://openalex.org/W2513482041","https://openalex.org/W2571445476","https://openalex.org/W2739420905","https://openalex.org/W2782291184","https://openalex.org/W2795132769","https://openalex.org/W2892239979","https://openalex.org/W2912849255","https://openalex.org/W2924849247","https://openalex.org/W2979771281","https://openalex.org/W3003611588","https://openalex.org/W3008564376","https://openalex.org/W3149241805","https://openalex.org/W4240919341","https://openalex.org/W55808248"],"related_works":["https://openalex.org/W4385439013","https://openalex.org/W4312473168","https://openalex.org/W4312269480","https://openalex.org/W4296449477","https://openalex.org/W4211124276","https://openalex.org/W2356003553","https://openalex.org/W2346502948","https://openalex.org/W2326585759","https://openalex.org/W2217121926","https://openalex.org/W1534130421"],"abstract_inverted_index":{"A":[0,75],"fundamental":[1],"challenge":[2,36],"in":[3,37,152],"the":[4,13,29,32,38,95,130,133,189,199,206],"field":[5,39],"of":[6,28,40,56,125,132,172],"modular":[7],"and":[8,21,80,90,102,120,159,164,168,178],"collective":[9],"robots":[10],"is":[11,43,78,118],"balancing":[12],"trade-off":[14],"between":[15],"unit-level":[16,22],"simplicity,":[17],"which":[18,24,151],"allows":[19,25],"scalability,":[20],"functionality,":[23],"meaningful":[26],"behaviors":[27],"collective.":[30],"At":[31],"same":[33],"time,":[34],"a":[35,49,60,114,135,139,155],"soft":[41,71,115,184,194],"robotics":[42],"creating":[44],"untethered":[45,123],"systems,":[46],"especially":[47],"at":[48],"large":[50],"scale":[51],"with":[52,138,145],"many":[53],"controlled":[54],"degrees":[55],"freedom":[57],"(DOF).":[58],"As":[59,113],"contribution":[61],"toward":[62],"addressing":[63],"these":[64],"challenges,":[65],"here":[66],"we":[67],"present":[68,129],"an":[69,148],"untethered,":[70,183],"cellular":[72,185],"robot":[73,186],"unit.":[74],"single":[76],"unit":[77,167,187],"simple":[79,170],"one":[81],"DOF,":[82],"yet":[83],"can":[84,97,103,121],"increase":[85],"its":[86,99,105,126],"volume":[87],"by":[88],"8x":[89],"apply":[91,202],"substantial":[92],"forces":[93,204],"to":[94,110,201,205],"environment,":[96],"modulate":[98],"surface":[100],"friction,":[101],"switch":[104],"unit-to-unit":[106,111],"cohesion":[107],"while":[108],"agnostic":[109],"orientation.":[112],"robot,":[116],"it":[117],"robust":[119,193],"achieve":[122],"operation":[124],"DOF.":[127],"We":[128,162],"design":[131],"unit,":[134],"volumetric":[136],"actuator":[137],"perforated":[140],"strain-limiting":[141],"fabric":[142],"skin":[143],"embedded":[144],"magnets":[146],"surrounding":[147],"elastomeric":[149],"membrane,":[150],"turn":[153],"encompasses":[154],"low-cost":[156],"micro-pump,":[157],"battery,":[158],"control":[160],"electronics.":[161],"model":[163],"test":[165],"this":[166],"show":[169],"demonstrations":[171],"three-unit":[173],"configurations":[174],"that":[175,197],"lift,":[176],"crawl,":[177],"perform":[179],"plate":[180],"manipulation.":[181],"Our":[182],"lays":[188],"foundation":[190],"for":[191],"new":[192],"robotic":[195],"collectives":[196],"have":[198],"potential":[200],"human-scale":[203],"world.":[207]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3130851859","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2025-04-24T18:16:47.982315","created_date":"2021-03-01"}