{"id":"https://openalex.org/W3151128024","doi":"https://doi.org/10.1101/2021.04.06.438657","title":"Propelling and perturbing appendages together facilitate strenuous ground self-righting","display_name":"Propelling and perturbing appendages together facilitate strenuous ground self-righting","publication_year":2021,"publication_date":"2021-04-08","ids":{"openalex":"https://openalex.org/W3151128024","doi":"https://doi.org/10.1101/2021.04.06.438657","mag":"3151128024"},"language":"en","primary_location":{"id":"doi:10.1101/2021.04.06.438657","doi":"https://doi.org/10.1101/2021.04.06.438657","is_oa":true,"landing_page_url":"https://doi.org/10.1101/2021.04.06.438657","pdf_url":"https://www.biorxiv.org/content/biorxiv/early/2021/05/30/2021.04.06.438657.full.pdf","source":{"id":"https://openalex.org/S4306402567","display_name":"bioRxiv (Cold Spring Harbor Laboratory)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2750212522","host_organization_name":"Cold Spring Harbor Laboratory","host_organization_lineage":["https://openalex.org/I2750212522"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"bioRxiv","raw_type":"posted-content"},"volume":null,"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.biorxiv.org/content/biorxiv/early/2021/05/30/2021.04.06.438657.full.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011284586","display_name":"Ratan Othayoth","orcid":"https://orcid.org/0000-0001-5431-9007","observed_orcids":["https://orcid.org/0000-0001-5431-9007"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ratan Othayoth","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University 3400 N. Charles St., Baltimore, Maryland 21218, USA"],"raw_orcid":"https://orcid.org/0000-0001-5431-9007","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University 3400 N. Charles St., Baltimore, Maryland 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100369775","display_name":"Chen Li","orcid":"https://orcid.org/0000-0001-7516-3646","observed_orcids":["https://orcid.org/0000-0001-7516-3646"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chen Li","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University 3400 N. Charles St., Baltimore, Maryland 21218, USA"],"raw_orcid":"https://orcid.org/0000-0001-7516-3646","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University 3400 N. Charles St., Baltimore, Maryland 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100369775"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":3,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9419000148773193,"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":0.9419000148773193,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.05270000174641609,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.0015999999595806003,"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/potential-energy-landscape","display_name":"potential energy landscape","score":0.7990000247955322},{"id":"https://openalex.org/keywords/somersaults","display_name":"somersaults","score":0.906000018119812},{"id":"https://openalex.org/keywords/rolling","display_name":"rolling","score":0.6050000190734863},{"id":"https://openalex.org/keywords/kinetic-energy","display_name":"kinetic energy","score":0.47099998593330383}],"concepts":[{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5208593010902405},{"id":"https://openalex.org/C135889238","wikidata":"https://www.wikidata.org/wiki/Q46276","display_name":"Kinetic energy","level":2,"score":0.4845649302005768},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.47341567277908325},{"id":"https://openalex.org/C41451933","wikidata":"https://www.wikidata.org/wiki/Q13415392","display_name":"Appendage","level":2,"score":0.45337599515914917},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34397047758102417},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.32129546999931335},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3093907833099365},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26985424757003784},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.23570451140403748},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.22647657990455627},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19338929653167725},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1742810606956482},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13200309872627258}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1101/2021.04.06.438657","doi":"https://doi.org/10.1101/2021.04.06.438657","is_oa":true,"landing_page_url":"https://doi.org/10.1101/2021.04.06.438657","pdf_url":"https://www.biorxiv.org/content/biorxiv/early/2021/05/30/2021.04.06.438657.full.pdf","source":{"id":"https://openalex.org/S4306402567","display_name":"bioRxiv (Cold Spring Harbor Laboratory)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2750212522","host_organization_name":"Cold Spring Harbor Laboratory","host_organization_lineage":["https://openalex.org/I2750212522"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"bioRxiv","raw_type":"posted-content"}],"best_oa_location":{"id":"doi:10.1101/2021.04.06.438657","doi":"https://doi.org/10.1101/2021.04.06.438657","is_oa":true,"landing_page_url":"https://doi.org/10.1101/2021.04.06.438657","pdf_url":"https://www.biorxiv.org/content/biorxiv/early/2021/05/30/2021.04.06.438657.full.pdf","source":{"id":"https://openalex.org/S4306402567","display_name":"bioRxiv (Cold Spring Harbor Laboratory)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2750212522","host_organization_name":"Cold Spring Harbor Laboratory","host_organization_lineage":["https://openalex.org/I2750212522"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"bioRxiv","raw_type":"posted-content"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G3141641755","display_name":null,"funder_award_id":"W911NF-17","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G427223414","display_name":null,"funder_award_id":"W911NF-17-1-0346","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3151128024.pdf","grobid_xml":"https://content.openalex.org/works/W3151128024.grobid-xml"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W154553254","https://openalex.org/W1518708041","https://openalex.org/W1532360000","https://openalex.org/W1577451703","https://openalex.org/W1589503602","https://openalex.org/W1919509962","https://openalex.org/W1921344537","https://openalex.org/W1961607890","https://openalex.org/W1973442416","https://openalex.org/W1975167611","https://openalex.org/W1978719503","https://openalex.org/W1986207405","https://openalex.org/W1988418708","https://openalex.org/W1988448588","https://openalex.org/W1990038625","https://openalex.org/W1994963844","https://openalex.org/W1998766373","https://openalex.org/W2011583439","https://openalex.org/W2014998908","https://openalex.org/W2029065682","https://openalex.org/W2045132873","https://openalex.org/W2050914263","https://openalex.org/W2060924910","https://openalex.org/W2062555037","https://openalex.org/W2065608796","https://openalex.org/W2071075252","https://openalex.org/W2072544504","https://openalex.org/W2078597403","https://openalex.org/W2081760211","https://openalex.org/W2082826116","https://openalex.org/W2085266415","https://openalex.org/W2093937828","https://openalex.org/W2094827842","https://openalex.org/W2106533942","https://openalex.org/W2111011296","https://openalex.org/W2118935785","https://openalex.org/W2135572107","https://openalex.org/W2142532796","https://openalex.org/W2146895111","https://openalex.org/W2172296345","https://openalex.org/W2179631363","https://openalex.org/W2182413092","https://openalex.org/W2232468391","https://openalex.org/W2279369962","https://openalex.org/W2298672545","https://openalex.org/W2346846909","https://openalex.org/W2409136026","https://openalex.org/W2566612950","https://openalex.org/W2615811911","https://openalex.org/W2735216528","https://openalex.org/W2757435221","https://openalex.org/W2779039123","https://openalex.org/W2887114371","https://openalex.org/W2901136733","https://openalex.org/W2968072845","https://openalex.org/W3014836832","https://openalex.org/W3034963602","https://openalex.org/W3044660841","https://openalex.org/W3047139575","https://openalex.org/W3111909702","https://openalex.org/W3151128024","https://openalex.org/W3154318216","https://openalex.org/W3154394593"],"related_works":["https://openalex.org/W3044660841","https://openalex.org/W2757435221","https://openalex.org/W4392223194","https://openalex.org/W2968072845","https://openalex.org/W2566612950","https://openalex.org/W4394695380","https://openalex.org/W3152543319","https://openalex.org/W3047139575","https://openalex.org/W6907266305","https://openalex.org/W4365143308"],"abstract_inverted_index":{"Abstract":[0],"Terrestrial":[1],"animals":[2],"must":[3],"self-right":[4,221],"when":[5,222],"overturned":[6],"on":[7],"the":[8,19,27,41,46,54,84,138,148,153,171,182,187,192],"ground,":[9],"but":[10],"this":[11],"locomotor":[12,228],"task":[13],"is":[14],"strenuous.":[15],"To":[16],"do":[17],"so,":[18],"discoid":[20],"cockroach":[21],"often":[22],"pushes":[23],"its":[24,57],"wings":[25],"against":[26],"ground":[28,72],"to":[29,45,48,76,136,144,160,164,215,220],"begin":[30],"a":[31,91,102,224],"somersault":[32],"which":[33],"rarely":[34],"succeeds.":[35],"As":[36],"it":[37,100,146,163],"repeatedly":[38],"attempts":[39],"this,":[40],"animal":[42,55],"probabilistically":[43,161],"rolls":[44],"side":[47],"self-":[49],"right.":[50],"During":[51],"winged":[52],"self-righting,":[53],"flails":[56],"legs":[58],"vigorously.":[59],"Here,":[60],"we":[61],"studied":[62],"whether":[63],"wing":[64,114,128],"opening":[65,115,129],"and":[66,98,116,184,206,217],"leg":[67,79,117,158],"flailing":[68,80,118,159],"together":[69,214],"facilitate":[70],"strenuous":[71,95,225],"self-righting.":[73],"Adding":[74],"mass":[75],"increase":[77],"hind":[78],"kinetic":[81,134,155],"energy":[82,122,135,142,156,196],"increased":[83,112],"animal\u2019s":[85],"self-righting":[86,96,110,176,200],"probability.":[87],"We":[88],"then":[89],"developed":[90],"robot":[92],"with":[93,113,186],"similar":[94],"behavior":[97],"used":[99],"as":[101],"physical":[103,179],"model":[104,124,167],"for":[105,150,198],"systematic":[106],"experiments.":[107],"The":[108,166],"robot\u2019s":[109],"probability":[111],"amplitudes.":[119],"A":[120],"potential":[121,141,195],"landscape":[123,197],"revealed":[125,169],"that,":[126],"although":[127],"did":[130],"not":[131],"generate":[132],"sufficient":[133],"overcome":[137,162],"high":[139],"pitch":[140],"barrier":[143,149],"somersault,":[145],"reduced":[147],"rolling,":[151],"facilitating":[152],"small":[154],"from":[157,178],"self-right.":[165],"also":[168],"that":[170],"stereotyped":[172],"body":[173,183],"motion":[174],"during":[175],"emerged":[177],"interaction":[180],"of":[181,194,212],"appendages":[185,213],"ground.":[188],"Our":[189],"work":[190],"demonstrated":[191],"usefulness":[193],"modeling":[199],"transitions.":[201],"Impact":[202],"statement":[203],"Animals":[204],"can,":[205],"robots":[207],"should,":[208],"use":[209],"different":[210],"types":[211],"propel":[216],"perturb":[218],"themselves":[219],"overturned,":[223],"yet":[226],"crucial":[227],"task.":[229]},"counts_by_year":[{"year":2021,"cited_by_count":3}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2021-04-13T00:00:00"}