{"id":"https://openalex.org/W4252368549","doi":"https://doi.org/10.1002/aisy.201900089","title":"Combining Locomotion and Grasping Functionalities in Soft Robots","display_name":"Combining Locomotion and Grasping Functionalities in Soft Robots","publication_year":2019,"publication_date":"2019-10-08","ids":{"openalex":"https://openalex.org/W4252368549","doi":"https://doi.org/10.1002/aisy.201900089"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.201900089","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.201900089","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.201900089","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.201900089","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053022720","display_name":"Alexander Yin","orcid":"https://orcid.org/0000-0001-9369-1004"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Yin","raw_affiliation_strings":["Department of Mechanical Engineering Boston University  Boston MA 02215 USA","Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Boston University  Boston MA 02215 USA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101037238","display_name":"Hung-Ching Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hung-Ching Lin","raw_affiliation_strings":["Department of Mechanical Engineering Boston University  Boston MA 02215 USA","Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Boston University  Boston MA 02215 USA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016195216","display_name":"Joanna Thelen","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joanna Thelen","raw_affiliation_strings":["Department of Mechanical Engineering Boston University  Boston MA 02215 USA","Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Boston University  Boston MA 02215 USA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013272791","display_name":"Benjamin Mahner","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Mahner","raw_affiliation_strings":["Department of Mechanical Engineering Boston University  Boston MA 02215 USA","Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Boston University  Boston MA 02215 USA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059155747","display_name":"Tommaso Ranzani","orcid":"https://orcid.org/0000-0001-8362-3710"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tommaso Ranzani","raw_affiliation_strings":["Department of Mechanical Engineering Boston University  Boston MA 02215 USA","Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA"],"raw_orcid":"https://orcid.org/0000-0001-8362-3710","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Boston University  Boston MA 02215 USA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA, 02215 USA","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5059155747"],"corresponding_institution_ids":["https://openalex.org/I111088046"],"apc_list":{"value":3190,"currency":"USD","value_usd":3190},"apc_paid":{"value":3190,"currency":"USD","value_usd":3190},"fwci":1.1527,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.75854823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"1","issue":"8","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9970999956130981,"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":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.859495997428894},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8211061954498291},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7254382371902466},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7209196090698242},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5917432904243469},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5001041889190674},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.48899877071380615},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.470504492521286},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4506880044937134},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4018890857696533},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3569863438606262},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3346484899520874},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33388087153434753},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3154999017715454},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09440332651138306},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.06336778402328491}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.859495997428894},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8211061954498291},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7254382371902466},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7209196090698242},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5917432904243469},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5001041889190674},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.48899877071380615},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.470504492521286},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4506880044937134},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4018890857696533},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3569863438606262},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3346484899520874},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33388087153434753},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3154999017715454},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09440332651138306},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.06336778402328491},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.201900089","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.201900089","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.201900089","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6f843c344e9a4bb48ee439839be98418","is_oa":true,"landing_page_url":"https://doaj.org/article/6f843c344e9a4bb48ee439839be98418","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 1, Iss 8, Pp n/a-n/a (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.201900089","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.201900089","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.201900089","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4252368549.pdf","grobid_xml":"https://content.openalex.org/works/W4252368549.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1484218370","https://openalex.org/W1515749184","https://openalex.org/W1904430208","https://openalex.org/W1919781749","https://openalex.org/W1971480267","https://openalex.org/W1975230295","https://openalex.org/W1983067379","https://openalex.org/W2002560324","https://openalex.org/W2010745100","https://openalex.org/W2021057782","https://openalex.org/W2025613329","https://openalex.org/W2027192530","https://openalex.org/W2027454283","https://openalex.org/W2071188031","https://openalex.org/W2100184879","https://openalex.org/W2129563024","https://openalex.org/W2149694982","https://openalex.org/W2154963933","https://openalex.org/W2257692719","https://openalex.org/W2284390012","https://openalex.org/W2296718990","https://openalex.org/W2403631776","https://openalex.org/W2468535179","https://openalex.org/W2515930553","https://openalex.org/W2520982900","https://openalex.org/W2528286914","https://openalex.org/W2560730116","https://openalex.org/W2585344004","https://openalex.org/W2618733545","https://openalex.org/W2618978088","https://openalex.org/W2623551786","https://openalex.org/W2737491236","https://openalex.org/W2741042665","https://openalex.org/W2769044080","https://openalex.org/W2784648116","https://openalex.org/W2789805345","https://openalex.org/W2790084889","https://openalex.org/W2791239448","https://openalex.org/W2793624728","https://openalex.org/W2883444218","https://openalex.org/W2886961311","https://openalex.org/W2913446864","https://openalex.org/W2954129390","https://openalex.org/W2959914702","https://openalex.org/W4211124276","https://openalex.org/W4251181231","https://openalex.org/W4255466541"],"related_works":["https://openalex.org/W3134474396","https://openalex.org/W1515749184","https://openalex.org/W4367041227","https://openalex.org/W2806506062","https://openalex.org/W4285221039","https://openalex.org/W3164201927","https://openalex.org/W3094251759","https://openalex.org/W3117219792","https://openalex.org/W2618733545","https://openalex.org/W2792758432"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"the":[3,55,72,77,108,117,120,149],"field":[4],"of":[5,32,41,74,76,105,107,119,122,131],"soft":[6,44,81,97],"robotics":[7,45],"has":[8,126],"grown":[9],"considerably,":[10],"demonstrating":[11],"robots":[12],"with":[13,24],"advanced":[14],"locomotion":[15,33,89,136],"capabilities":[16,36],"as":[17,19,54],"well":[18],"robust":[20],"grasping":[21,35,138],"and":[22,34,66,90,114,137,163],"manipulation":[23],"respect":[25],"to":[26,57,68,133,152,156,164,170],"their":[27],"rigid":[28],"counterparts.":[29],"The":[30,92,124],"combination":[31],"entails":[37],"a":[38,59,80,96,112,167],"unique":[39],"set":[40],"challenges":[42,93],"in":[43,71,103,116],"that":[46,86,94,147],"have":[47],"not":[48],"been":[49],"fully":[50],"explored":[51,102],"yet,":[52],"such":[53,95],"capability":[56],"carry":[58],"payload":[60,113,168],"without":[61],"compromising":[62],"its":[63,159,173],"motion":[64],"capabilities,":[65],"how":[67],"adjust":[69],"changes":[70],"center":[73,121],"mass":[75],"robot.":[78],"Herein,":[79],"robotic":[82],"platform":[83],"is":[84,144],"proposed":[85],"demonstrates":[87],"simultaneous":[88],"grasping.":[91],"robot":[98,109,125,150],"would":[99],"encounter":[100],"are":[101],"terms":[104],"stability":[106],"while":[110],"supporting":[111],"variations":[115],"location":[118],"mass.":[123],"13":[127],"independently":[128],"controllable":[129],"degrees":[130],"freedom":[132],"study":[134],"different":[135],"strategies.":[139],"A":[140],"passive":[141],"stiffening":[142],"methodology":[143],"also":[145],"presented":[146],"allows":[148],"body":[151,160],"statically":[153],"sustain":[154],"up":[155,169],"7.7":[157],"times":[158,172],"weight":[161],"(BW),":[162],"walk":[165],"carrying":[166],"100%":[171],"BW.":[174]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}