{"id":"https://openalex.org/W7225103193","doi":"https://doi.org/10.1063/5.0349925","title":"Resonance-regulated stick\u2013slip locomotion in a dual-soft-legged vibratory robot","display_name":"Resonance-regulated stick\u2013slip locomotion in a dual-soft-legged vibratory robot","publication_year":2026,"publication_date":"2026-11-02","ids":{"openalex":"https://openalex.org/W7225103193","doi":"https://doi.org/10.1063/5.0349925"},"language":"en","primary_location":{"id":"doi:10.1063/5.0349925","doi":"https://doi.org/10.1063/5.0349925","is_oa":false,"landing_page_url":"https://doi.org/10.1063/5.0349925","pdf_url":null,"source":{"id":"https://openalex.org/S105243760","display_name":"Applied Physics Letters","issn_l":"0003-6951","issn":["0003-6951","1077-3118","1520-8842"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-a","jufo-3","ki-jl-1","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320257","host_organization_name":"American Institute of Physics","host_organization_lineage":["https://openalex.org/P4310320257"],"host_organization_lineage_names":["American Institute of Physics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Physics Letters","raw_type":"journal-article"},"volume":null,"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/A5160369930","display_name":"Jingyuan Zeng","orcid":"https://orcid.org/0009-0001-4245-6634","observed_orcids":["https://orcid.org/0009-0001-4245-6634"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyuan Zeng","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,"],"raw_orcid":"https://orcid.org/0009-0001-4245-6634","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043803062","display_name":"Ke Huang","orcid":"https://orcid.org/0000-0001-5408-9854","observed_orcids":["https://orcid.org/0000-0001-5408-9854"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Huang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,"],"raw_orcid":"https://orcid.org/0000-0001-5408-9854","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160334348","display_name":"Zitong Zeng","orcid":"https://orcid.org/0009-0003-1925-3120","observed_orcids":["https://orcid.org/0009-0003-1925-3120"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zitong Zeng","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,"],"raw_orcid":"https://orcid.org/0009-0003-1925-3120","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100769123","display_name":"Jiaying Zhang","orcid":"https://orcid.org/0000-0001-7308-5090","observed_orcids":["https://orcid.org/0000-0001-7308-5090"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiaying Zhang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,"],"raw_orcid":"https://orcid.org/0000-0001-7308-5090","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University , Beijing 100191,","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100769123"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.7367385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"129","issue":"18","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":0.9707000255584717,"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":0.9707000255584717,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.007400000002235174,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.0044999998062849045,"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/friction-anisotropy","display_name":"anisotropic friction","score":0.9440000057220459},{"id":"https://openalex.org/keywords/resonance","display_name":"resonance","score":0.5699999928474426},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.9390000104904175},{"id":"https://openalex.org/keywords/unilateral-contact","display_name":"unilateral contact","score":0.8709999918937683},{"id":"https://openalex.org/keywords/excitation-frequency","display_name":"excitation frequency","score":0.7670000195503235},{"id":"https://openalex.org/keywords/dynamic-model","display_name":"dynamic model","score":0.4410000145435333},{"id":"https://openalex.org/keywords/bioinspired-robotics","display_name":"bio-inspired robotics","score":0.6439999938011169}],"concepts":[{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5425999760627747},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5188000202178955},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5067999958992004},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4959000051021576},{"id":"https://openalex.org/C85725439","wikidata":"https://www.wikidata.org/wiki/Q466686","display_name":"Anisotropy","level":2,"score":0.49129998683929443},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4805999994277954},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.4749000072479248},{"id":"https://openalex.org/C139210041","wikidata":"https://www.wikidata.org/wiki/Q2145840","display_name":"Resonance (particle physics)","level":2,"score":0.4722999930381775},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4722000062465668},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.460099995136261},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4480000138282776},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.423799991607666},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.42340001463890076},{"id":"https://openalex.org/C83581075","wikidata":"https://www.wikidata.org/wiki/Q1361503","display_name":"Excitation","level":2,"score":0.4163999855518341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39969998598098755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38429999351501465},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.3325999975204468},{"id":"https://openalex.org/C500300565","wikidata":"https://www.wikidata.org/wiki/Q925667","display_name":"Computer simulation","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C100784341","wikidata":"https://www.wikidata.org/wiki/Q1340491","display_name":"Eccentric","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C30811805","wikidata":"https://www.wikidata.org/wiki/Q212126","display_name":"Fictitious force","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C9342510","wikidata":"https://www.wikidata.org/wiki/Q25406","display_name":"Coulomb","level":3,"score":0.2856000065803528},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2669000029563904},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1063/5.0349925","doi":"https://doi.org/10.1063/5.0349925","is_oa":false,"landing_page_url":"https://doi.org/10.1063/5.0349925","pdf_url":null,"source":{"id":"https://openalex.org/S105243760","display_name":"Applied Physics Letters","issn_l":"0003-6951","issn":["0003-6951","1077-3118","1520-8842"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-a","jufo-3","ki-jl-1","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320257","host_organization_name":"American Institute of Physics","host_organization_lineage":["https://openalex.org/P4310320257"],"host_organization_lineage_names":["American Institute of Physics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Physics Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W624960158","https://openalex.org/W1676421722","https://openalex.org/W1994956466","https://openalex.org/W2006455482","https://openalex.org/W2040727510","https://openalex.org/W2081474333","https://openalex.org/W2098624244","https://openalex.org/W2100734061","https://openalex.org/W2102501940","https://openalex.org/W2108860261","https://openalex.org/W2137724721","https://openalex.org/W2143175951","https://openalex.org/W2157779618","https://openalex.org/W2329683768","https://openalex.org/W2784599565","https://openalex.org/W2904089433","https://openalex.org/W2904732732","https://openalex.org/W2976955272","https://openalex.org/W3217393940","https://openalex.org/W4200252227","https://openalex.org/W4206746581","https://openalex.org/W4309703402","https://openalex.org/W4385276511","https://openalex.org/W4399135142","https://openalex.org/W4399269350","https://openalex.org/W4405127044","https://openalex.org/W4408172163","https://openalex.org/W4412904603","https://openalex.org/W7117453301"],"related_works":["https://openalex.org/W4405127044","https://openalex.org/W2969288996","https://openalex.org/W2776369367","https://openalex.org/W3136796197","https://openalex.org/W2169680019","https://openalex.org/W2943817709","https://openalex.org/W7225100911","https://openalex.org/W4412904603","https://openalex.org/W4284988722","https://openalex.org/W2289998976"],"abstract_inverted_index":{"Inspired":[0],"by":[1,25,75],"the":[2,92,97,111,116,125,131,135,146,175],"bristle-like":[3],"anisotropic":[4],"structures":[5],"of":[6,177],"foxtail":[7],"grass,":[8],"this":[9],"Letter":[10],"presents":[11],"a":[12,26,163,167],"dual-soft-legged":[13],"vibratory":[14],"robot":[15],"that":[16,96,142],"exploits":[17],"frictional":[18],"anisotropy":[19],"to":[20,54],"generate":[21],"directed":[22],"locomotion":[23,45,72,143],"driven":[24],"single":[27],"eccentric":[28,35,149],"motor.":[29],"The":[30],"interaction":[31,147],"among":[32,43,148],"structural":[33,158,178],"deformation,":[34],"inertial":[36,150],"excitation,":[37],"and":[38,59,78,86,94,121,156,171],"tangential":[39],"friction":[40,64,154],"enables":[41],"transitions":[42],"multiple":[44],"states.":[46,89],"A":[47],"reduced":[48],"dynamic":[49,113],"model":[50,114],"is":[51],"then":[52],"developed":[53],"couple":[55],"forward":[56,88],"translation,":[57],"heave,":[58],"pitch":[60],"rotation":[61],"with":[62,130],"Coulomb":[63],"under":[65],"unilateral":[66],"contact.":[67],"Numerical":[68],"simulations":[69],"identify":[70],"different":[71],"states":[73],"governed":[74],"soft-leg":[76],"stiffness":[77],"excitation":[79],"frequency,":[80],"including":[81],"stationary,":[82],"slow-forward,":[83],"intermittent,":[84],"transitional,":[85],"high-speed":[87],"Experiments":[90],"validate":[91],"results":[93],"show":[95],"measured":[98],"displacement":[99],"arises":[100],"from":[101,110,145],"repeated":[102],"stick\u2013slip":[103,182],"transitions.":[104],"An":[105],"implicit":[106],"critical":[107],"equation":[108],"derived":[109],"simplified":[112],"captures":[115],"onset":[117],"boundary":[118],"between":[119],"stationary":[120],"moving":[122],"states,":[123],"while":[124],"resonance":[126,179],"curves":[127],"closely":[128],"align":[129],"characteristic":[132],"regions":[133],"in":[134],"numerical":[136],"state":[137],"map.":[138],"This":[139,160],"agreement":[140],"reveals":[141],"emerges":[144],"forcing,":[151],"dynamically":[152],"modulated":[153],"thresholds,":[155],"resonant":[157],"response.":[159],"work":[161],"establishes":[162],"physical":[164],"framework":[165],"for":[166,180],"friction-driven":[168],"vibration":[169],"mechanism":[170],"provides":[172],"insight":[173],"into":[174],"use":[176],"tunable":[181],"locomotion.":[183]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2026-11-03T00:00:00"}