{"id":"https://openalex.org/W2586993602","doi":null,"title":"Design, Building, Testing, and Control of SUPERball: A Tensegrity Robot to Enable New Forms of Planetary Exploration","display_name":"Design, Building, Testing, and Control of SUPERball: A Tensegrity Robot to Enable New Forms of Planetary Exploration","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2586993602","mag":"2586993602"},"language":"en","primary_location":{"id":"pmh:oai:escholarship.org/ark:/13030/qt0274v214","doi":null,"is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/0274v214","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"etd"},"volume":null,"type":"dissertation","indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.org/uc/item/0274v214","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038985949","display_name":"Jonathan Bruce","orcid":"https://orcid.org/0000-0002-9906-6995","observed_orcids":["https://orcid.org/0000-0002-9906-6995"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jonathan Bruce","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-9906-6995","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5038985949"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.3815999925136566,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.3815999925136566,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.35179999470710754,"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":0.12680000066757202,"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/tensegrity-robots","display_name":"tensegrity robots","score":0.9890000224113464},{"id":"https://openalex.org/keywords/superballs","display_name":"superballs","score":0.9020000100135803},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"planetary exploration","score":0.7350000143051147},{"id":"https://openalex.org/keywords/planetary-landing","display_name":"planetary landing","score":0.6899999976158142},{"id":"https://openalex.org/keywords/untethered-robots","display_name":"untethered robots","score":0.7590000033378601},{"id":"https://openalex.org/keywords/cable-networks","display_name":"cable networks","score":0.7599999904632568},{"id":"https://openalex.org/keywords/state-estimation","display_name":"state estimation","score":0.921999990940094},{"id":"https://openalex.org/keywords/evolutionary-algorithms","display_name":"evolutionary algorithms","score":0.972000002861023},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"supervised learning","score":0.8650000095367432},{"id":"https://openalex.org/keywords/nonlinear-dynamics","display_name":"nonlinear dynamics","score":0.3799999952316284},{"id":"https://openalex.org/keywords/unstructured-terrain","display_name":"unstructured terrain","score":0.49300000071525574},{"id":"https://openalex.org/keywords/sensor-calibration","display_name":"sensor calibration","score":0.3449999988079071}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9834624528884888},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7354152798652649},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6901872158050537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5193380117416382},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4986305236816406},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4432791471481323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4021937847137451},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3515564799308777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34066659212112427},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0912560522556305},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:escholarship.org/ark:/13030/qt0274v214","doi":null,"is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/0274v214","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"etd"},{"id":"pmh:qt0274v214","doi":null,"is_oa":true,"landing_page_url":"http://www.escholarship.org/uc/item/0274v214","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Bruce, Jonathan. (2016). Design, Building, Testing, and Control of SUPERball: A Tensegrity Robot to Enable New Forms of Planetary Exploration. UC Santa Cruz: Computer Engineering (Robotics and Control). Retrieved from: http://www.escholarship.org/uc/item/0274v214","raw_type":"dissertation"},{"id":"mag:2586993602","doi":null,"is_oa":false,"landing_page_url":"https://escholarship.org/uc/item/0274v214.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:escholarship.org/ark:/13030/qt0274v214","doi":null,"is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/0274v214","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"etd"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1590980019","https://openalex.org/W7062336857","https://openalex.org/W1976587447","https://openalex.org/W2772936174","https://openalex.org/W14894900","https://openalex.org/W3082371208","https://openalex.org/W2325291015","https://openalex.org/W2234576555","https://openalex.org/W3099591261","https://openalex.org/W7043684728"],"abstract_inverted_index":{"Presented":[0],"in":[1,227],"this":[2,205],"work":[3],"are":[4,52,166,203,209,238],"the":[5,67,120,146,157,161,196,233,242],"concepts":[6],"to":[7,33,58,124,172,189],"build,":[8],"sense":[9],"and":[10,42,61,111,152,177,193,216,232],"control":[11,153,200,207],"a":[12,27,47,75,82,86,97,125,134],"completely":[13],"untethered":[14],"tensegrity":[15,30,37,91,99,181],"robotic":[16,100,162,245],"system":[17,106,122,224],"called":[18],"SUPERball":[19,121,137,244],"(Spherical":[20],"Underactuated":[21],"Planetary":[22],"Exploration":[23],"Robot),":[24],"which":[25,102],"is":[26,138,225],"compliant":[28,54],"icosahedron":[29],"robot":[31],"designed":[32],"enable":[34],"research":[35],"into":[36],"robots":[38,51,92],"for":[39,90,140,174],"planetary":[40,143],"landing":[41],"exploration":[43],"as":[44],"part":[45],"of":[46,69,77,80,107,115,127,148],"NASA":[48],"funded":[49],"program.Tensegrity":[50],"structurally":[53],"machines,":[55],"uniquely":[56],"able":[57,171],"absorb":[59],"forces":[60],"interact":[62],"with":[63,195],"unstructured":[64],"environments":[65],"through":[66,220],"use":[68,141],"multiple":[70],"rigid":[71],"bodies":[72],"stabilized":[73],"by":[74,95,133],"network":[76],"cables.However,":[78],"instead":[79],"engineering":[81],"single":[83],"new":[84],"robot,":[85],"fundamentally":[87],"reusable":[88],"component":[89],"was":[93],"developed":[94,210],"creating":[96],"modular":[98,117],"strut":[101],"contains":[103],"an":[104],"integrated":[105],"power,":[108],"sensing,":[109],"actuation,":[110],"communications.SUPERball":[112],"utilizes":[113],"six":[114],"these":[116],"struts,":[118],"making":[119],"analogous":[123],"swarm":[126],"6":[128],"individual":[129],"robots,":[130],"mutually":[131],"constrained":[132],"cable":[135,191],"network.Since":[136],"intended":[139],"on":[142,159,241],"surfaces":[144],"without":[145],"support":[147],"GPS,":[149],"state":[150,230],"estimation":[151,231],"policies":[154],"only":[155],"utilize":[156],"sensors":[158,165],"board":[160],"system.When":[163],"external":[164],"used,":[167],"they":[168],"must":[169],"be":[170],"account":[173],"imprecise":[175],"placement":[176],"automatic":[178],"calibration.Also,":[179],"dynamic":[180],"systems":[182],"do":[183],"not":[184],"exhibit":[185],"continuous":[186],"dynamics":[187],"due":[188],"nonlinear":[190],"conditions":[192],"interactions":[194],"environment,":[197],"thus":[198],"non-traditional":[199],"development":[201],"methods":[202],"implemented.In":[204],"work,":[206],"polices":[208],"using":[211],"Monte":[212],"Carlo,":[213],"evolutionary":[214],"algorithms,":[215],"advanced":[217],"supervised":[218],"learning":[219],"Guided":[221,234],"Policy":[222,235],"Search.Each":[223],"evaluated":[226,240],"simulation,":[228],"while":[229],"Search":[236],"method":[237],"additionally":[239],"physical":[243],"system.":[246]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2017-02-17T00:00:00"}
