{"id":"https://openalex.org/W2751187042","doi":"https://doi.org/10.1109/aim.2017.8014146","title":"Soft-amphibious robot using thin and soft McKibben actuator","display_name":"Soft-amphibious robot using thin and soft McKibben actuator","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2751187042","doi":"https://doi.org/10.1109/aim.2017.8014146","mag":"2751187042"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"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/A5112033740","display_name":"A. A. M. Faudzi","orcid":null},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]},{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP","MY"],"is_corresponding":true,"raw_author_name":"A. A. M. Faudzi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan","The Centre of Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia, UTM Johor Bahru, Malaysia"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"The Centre of Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia, UTM Johor Bahru, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031605082","display_name":"Muhammad Rusydi Muhammad Razif","orcid":"https://orcid.org/0000-0001-5572-6413"},"institutions":[{"id":"https://openalex.org/I930072361","display_name":"Tun Hussein Onn University of Malaysia","ror":"https://ror.org/01c5wha71","country_code":"MY","type":"education","lineage":["https://openalex.org/I930072361"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"M. R. M. Razif","raw_affiliation_strings":["Department of Electrical Engineering Technology, University Tun Hussein Onn Malaysia (UTHM), Paritt Raja, Batu Pahat, Malaysia"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Technology, University Tun Hussein Onn Malaysia (UTHM), Paritt Raja, Batu Pahat, Malaysia","institution_ids":["https://openalex.org/I930072361"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. Endo","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Nabae","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Suzumori","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Ookayama, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112033740"],"corresponding_institution_ids":["https://openalex.org/I114531698","https://openalex.org/I4576418"],"apc_list":null,"apc_paid":null,"fwci":1.0506,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.7556504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"981","last_page":"986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9962999820709229,"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/actuator","display_name":"Actuator","score":0.7521907091140747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6842010021209717},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6719039678573608},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5514286756515503},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5324913859367371},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5040242075920105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45214352011680603},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.424263596534729},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3913446068763733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3795515298843384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3445743918418884},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1829591989517212}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7521907091140747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6842010021209717},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6719039678573608},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5514286756515503},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5324913859367371},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5040242075920105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45214352011680603},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.424263596534729},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3913446068763733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3795515298843384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3445743918418884},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1829591989517212},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2017.8014146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50380409","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100748280","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W128910766","https://openalex.org/W394495993","https://openalex.org/W1480245256","https://openalex.org/W1968938501","https://openalex.org/W2000573734","https://openalex.org/W2010745100","https://openalex.org/W2023579974","https://openalex.org/W2038299128","https://openalex.org/W2072180280","https://openalex.org/W2095593876","https://openalex.org/W2101850483","https://openalex.org/W2102095685","https://openalex.org/W2111011296","https://openalex.org/W2133927820","https://openalex.org/W2156218502","https://openalex.org/W2156484121","https://openalex.org/W2161915722","https://openalex.org/W2164505540","https://openalex.org/W2166566441","https://openalex.org/W2229765041","https://openalex.org/W2406615878","https://openalex.org/W2569445514","https://openalex.org/W4214746323","https://openalex.org/W4251181231","https://openalex.org/W6605232865"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W2191403106","https://openalex.org/W3028163505","https://openalex.org/W1821679985","https://openalex.org/W4382046882","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,55,125,171,178],"quadruped":[4],"soft-amphibious":[5],"robot":[6,17,85,167],"using":[7,131,150,184,196],"4.0":[8],"mm":[9],"diameter":[10],"thin":[11,56],"and":[12,21,42,52,114,128,137,157,173,187,193,203],"soft":[13],"McKibben":[14],"actuator.":[15],"The":[16,67,166],"utilizes":[18],"its":[19],"leg":[20],"body":[22,65],"bending":[23,112],"mechanism":[24],"to":[25,109,161,189],"locomote.":[26],"For":[27],"each":[28],"leg,":[29],"three":[30],"links":[31],"of":[32,70,83,89,135,181],"the":[33,61,64,71,76,80,84,87,90,111,141,163,197],"actuators":[34,47,62,77],"are":[35,48],"arranged":[36,49],"in":[37,50,59,79,103,194],"parallel":[38,51],"with":[39,54,116,177],"fixed":[40,53],"upper":[41],"bottom":[43],"part.":[44],"Then,":[45],"four":[46],"plastic":[57,72],"plate":[58,73],"between":[60],"for":[63],"motion.":[66,97],"elastic":[68],"deformation":[69],"actuated":[74],"by":[75],"assist":[78],"side-to-side":[81],"motion":[82],"mimicking":[86],"gait":[88,186,199],"biological":[91],"creature":[92],"like":[93],"lizard/salamander":[94],"during":[95],"walking":[96,164],"FEM":[98],"simulation":[99],"studies":[100],"were":[101,159],"performed":[102],"Marc":[104],"Mentat":[105],"<sup":[106],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[107],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00ae</sup>":[108],"evaluate":[110],"behaviors":[113],"validated":[115],"an":[117],"experimental":[118],"test.":[119],"Walking":[120],"experiment":[121,145],"was":[122,146],"tested":[123,147],"on":[124,129,170,191],"flat":[126,172],"surface":[127],"sand":[130,192],"two":[132],"different":[133],"gaits":[134],"trot":[136,185],"crawl":[138,152,198],"gait.":[139,153],"On":[140],"other":[142],"hand,":[143],"swimming":[144],"inside":[148],"water":[149,195],"only":[151],"Different":[154],"input":[155],"pressure":[156],"frequency":[158],"varied":[160],"study":[162],"behavior.":[165],"successfully":[168],"walks":[169],"10\u00b0":[174],"incline":[175],"plane":[176],"maximum":[179],"speed":[180],"0.056":[182],"m/s":[183,202],"robust":[188],"move":[190],"at":[200],"0.041":[201],"0.022":[204],"m/s,":[205],"respectively.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}