{"id":"https://openalex.org/W2519945751","doi":"https://doi.org/10.1109/mra.2016.2580593","title":"Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots","display_name":"Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2519945751","doi":"https://doi.org/10.1109/mra.2016.2580593","mag":"2519945751"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2016.2580593","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5020240971","display_name":"Stefano Mintchev","orcid":"https://orcid.org/0000-0001-6272-0212"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stefano Mintchev","raw_affiliation_strings":["\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Laboratory of Intelligent Systems, Switzerland"],"affiliations":[{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Laboratory of Intelligent Systems, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Laboratory of Intelligent Systems, Switzerland"],"affiliations":[{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Laboratory of Intelligent Systems, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.912,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":89,"citation_normalized_percentile":{"value":0.886413,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"23","issue":"3","first_page":"42","last_page":"54"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9996,"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":0.9996,"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":0.9991,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9987,"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/soft-robotics","display_name":"Soft Robotics","score":0.68036807},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.67540425},{"id":"https://openalex.org/keywords/adaptive-system","display_name":"Adaptive system","score":0.50150394},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.44267133},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.43353313},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.43318796}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.68036807},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.67540425},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6072948},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5154294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5063399},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.50150394},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47153598},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.44267133},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.44122082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4388411},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.43353313},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.43318796},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42283323},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.41569778},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3551107},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3149906},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20800558},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.13358468},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.102825284},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09892109},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2016.2580593","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":101,"referenced_works":["https://openalex.org/W1185869443","https://openalex.org/W1492433990","https://openalex.org/W1503950469","https://openalex.org/W1515749184","https://openalex.org/W1532360000","https://openalex.org/W1554135758","https://openalex.org/W1655533683","https://openalex.org/W1704704075","https://openalex.org/W1738827650","https://openalex.org/W1771073220","https://openalex.org/W1822001265","https://openalex.org/W1833868912","https://openalex.org/W1967238647","https://openalex.org/W1970828146","https://openalex.org/W1972673244","https://openalex.org/W1975224103","https://openalex.org/W1975831729","https://openalex.org/W1980587781","https://openalex.org/W1983379695","https://openalex.org/W1990176070","https://openalex.org/W1991089195","https://openalex.org/W1991951278","https://openalex.org/W2000510667","https://openalex.org/W2001685400","https://openalex.org/W2006207808","https://openalex.org/W2007924815","https://openalex.org/W2009796996","https://openalex.org/W2009976000","https://openalex.org/W2010569445","https://openalex.org/W2010745100","https://openalex.org/W2012553936","https://openalex.org/W2012722832","https://openalex.org/W2025613329","https://openalex.org/W2027456736","https://openalex.org/W202810661","https://openalex.org/W2030775133","https://openalex.org/W2037094674","https://openalex.org/W2037428143","https://openalex.org/W2040572200","https://openalex.org/W2041186773","https://openalex.org/W2043107329","https://openalex.org/W2048963734","https://openalex.org/W2049316504","https://openalex.org/W2049377006","https://openalex.org/W2050913304","https://openalex.org/W2052368712","https://openalex.org/W2055515082","https://openalex.org/W2060040254","https://openalex.org/W2064736763","https://openalex.org/W2070325785","https://openalex.org/W2071417411","https://openalex.org/W2072094721","https://openalex.org/W2072128224","https://openalex.org/W2076369322","https://openalex.org/W2081536058","https://openalex.org/W2090252028","https://openalex.org/W2090637319","https://openalex.org/W2093937828","https://openalex.org/W2094454490","https://openalex.org/W2094740719","https://openalex.org/W2096926380","https://openalex.org/W2104432325","https://openalex.org/W2110301612","https://openalex.org/W2112468692","https://openalex.org/W2113687822","https://openalex.org/W2114566541","https://openalex.org/W2115730725","https://openalex.org/W2117085697","https://openalex.org/W2117928110","https://openalex.org/W2118216362","https://openalex.org/W2118812266","https://openalex.org/W2120652436","https://openalex.org/W2122682219","https://openalex.org/W2130572041","https://openalex.org/W2130681352","https://openalex.org/W2136867044","https://openalex.org/W2138830081","https://openalex.org/W2139714790","https://openalex.org/W2140384790","https://openalex.org/W2140393019","https://openalex.org/W2141202025","https://openalex.org/W2144853962","https://openalex.org/W2148219472","https://openalex.org/W2149841830","https://openalex.org/W2154963933","https://openalex.org/W2155817531","https://openalex.org/W2157576165","https://openalex.org/W2158138986","https://openalex.org/W2159708810","https://openalex.org/W2166910409","https://openalex.org/W2168069209","https://openalex.org/W2170454024","https://openalex.org/W2192961385","https://openalex.org/W2199318894","https://openalex.org/W2206752356","https://openalex.org/W2316230643","https://openalex.org/W2329268914","https://openalex.org/W2414234741","https://openalex.org/W4250144186","https://openalex.org/W4256263328","https://openalex.org/W4256343091"],"related_works":["https://openalex.org/W4379534435","https://openalex.org/W4312732386","https://openalex.org/W3206616844","https://openalex.org/W3175143761","https://openalex.org/W3164201927","https://openalex.org/W3111290348","https://openalex.org/W3000010690","https://openalex.org/W2944234327","https://openalex.org/W2560099732","https://openalex.org/W1575455118"],"abstract_inverted_index":{"Morphology":[0],"plays":[1],"an":[2,48],"important":[3,116],"role":[4],"in":[5,52,125,138],"behavioral":[6],"and":[7,12,63,66,92,111,118,129],"locomotion":[8,33],"strategies":[9],"of":[10,60,84],"living":[11],"artificial":[13],"systems.":[14,140],"There":[15],"is":[16,47,96],"biological":[17],"evidence":[18],"that":[19,44,54],"adaptive":[20,45,80,130,136],"morphological":[21],"changes":[22],"can":[23],"not":[24],"only":[25],"extend":[26],"dynamic":[27,86],"performances":[28],"by":[29],"reducing":[30],"tradeoffs":[31],"during":[32],"but":[34],"also":[35,97],"provide":[36],"new":[37,58],"functionalities.":[38],"In":[39],"this":[40],"article,":[41],"we":[42],"show":[43],"morphology":[46,81,95,137],"emerging":[49],"design":[50,127],"principle":[51],"robotics":[53],"benefits":[55],"from":[56],"a":[57,71,98],"generation":[59],"soft,":[61],"variable-stiffness,":[62],"functional":[64],"materials":[65],"structures.":[67],"When":[68],"moving":[69],"within":[70],"given":[72],"environment":[73],"or":[74],"when":[75],"transitioning":[76],"between":[77],"different":[78],"substrates,":[79],"allows":[82],"accommodation":[83],"opposing":[85],"requirements":[87],"(e.g.,":[88],"maneuverability,":[89],"stability,":[90],"efficiency,":[91],"speed).":[93],"Adaptive":[94],"viable":[99],"solution":[100],"to":[101,133],"endow":[102],"robots":[103],"with":[104],"additional":[105],"functionalities,":[106],"such":[107,121],"as":[108,122],"transportability,":[109],"protection,":[110],"variable":[112],"gearing.":[113],"We":[114],"identify":[115],"research":[117],"technological":[119],"questions,":[120],"variable-stiffness":[123],"structures,":[124],"silico":[126],"tools,":[128],"control":[131],"systems":[132],"fully":[134],"leverage":[135],"robotic":[139]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2519945751","counts_by_year":[{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7}],"updated_date":"2024-12-30T15:32:35.120931","created_date":"2016-09-23"}