{"id":"https://openalex.org/W2000573734","doi":"https://doi.org/10.1109/icra.2012.6224671","title":"Design and development of a soft robot with crawling and grasping capabilities","display_name":"Design and development of a soft robot with crawling and grasping capabilities","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2000573734","doi":"https://doi.org/10.1109/icra.2012.6224671","mag":"2000573734"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5008979319","display_name":"Marcello Calisti","orcid":"https://orcid.org/0000-0002-2590-188X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marcello Calisti","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042633902","display_name":"Andrea Arienti","orcid":"https://orcid.org/0000-0002-9792-6525"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Arienti","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043823023","display_name":"Federico Renda","orcid":"https://orcid.org/0000-0002-1833-9809"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Renda","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089779277","display_name":"Guy Levy","orcid":"https://orcid.org/0000-0001-6807-4004"},"institutions":[{"id":"https://openalex.org/I197251160","display_name":"Hebrew University of Jerusalem","ror":"https://ror.org/03qxff017","country_code":"IL","type":"education","lineage":["https://openalex.org/I197251160"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Guy Levy","raw_affiliation_strings":["Hebrew University of Jerusalem, Jerusalem, Israel","Hebrew University of Jerusalem,\u00a0Israel"],"affiliations":[{"raw_affiliation_string":"Hebrew University of Jerusalem, Jerusalem, Israel","institution_ids":["https://openalex.org/I197251160"]},{"raw_affiliation_string":"Hebrew University of Jerusalem,\u00a0Israel","institution_ids":["https://openalex.org/I197251160"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025814652","display_name":"Binyamin Hochner","orcid":"https://orcid.org/0000-0002-9638-7320"},"institutions":[{"id":"https://openalex.org/I197251160","display_name":"Hebrew University of Jerusalem","ror":"https://ror.org/03qxff017","country_code":"IL","type":"education","lineage":["https://openalex.org/I197251160"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Binyamin Hochner","raw_affiliation_strings":["Hebrew University of Jerusalem, Jerusalem, Israel","Hebrew University of Jerusalem,\u00a0Israel"],"affiliations":[{"raw_affiliation_string":"Hebrew University of Jerusalem, Jerusalem, Israel","institution_ids":["https://openalex.org/I197251160"]},{"raw_affiliation_string":"Hebrew University of Jerusalem,\u00a0Israel","institution_ids":["https://openalex.org/I197251160"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078241160","display_name":"Barbara Mazzolai","orcid":"https://orcid.org/0000-0003-0722-8350"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Barbara Mazzolai","raw_affiliation_strings":["Centre for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia, Pisa, Italy","The Centre for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia (IIT), Pontedera (Pisa), Italy"],"affiliations":[{"raw_affiliation_string":"Centre for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia, Pisa, Italy","institution_ids":["https://openalex.org/I4210116474","https://openalex.org/I30771326"]},{"raw_affiliation_string":"The Centre for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia (IIT), Pontedera (Pisa), Italy","institution_ids":["https://openalex.org/I4210116474","https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Dario","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna Pisa Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5008979319"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":4.3516,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.94256646,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4950","last_page":"4955"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976999759674072,"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/crawling","display_name":"Crawling","score":0.8634361028671265},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7031152248382568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5703133344650269},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.49998021125793457},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4032173156738281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38490694761276245},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3341764211654663},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32913288474082947},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32667261362075806},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32292306423187256},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3083081841468811},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.0805782675743103}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8634361028671265},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7031152248382568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5703133344650269},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.49998021125793457},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4032173156738281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38490694761276245},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3341764211654663},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32913288474082947},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32667261362075806},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32292306423187256},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3083081841468811},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0805782675743103},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2012.6224671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:46202","is_oa":false,"landing_page_url":"https://eprints.lincoln.ac.uk/id/eprint/46202/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop contribution"},{"id":"pmh:oai:www.iris.sssup.it:11382/354842","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/354842","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1986717340","https://openalex.org/W1992192651","https://openalex.org/W2027192530","https://openalex.org/W2030378167","https://openalex.org/W2049511808","https://openalex.org/W2055515082","https://openalex.org/W2079799414","https://openalex.org/W2117162889","https://openalex.org/W2135485145","https://openalex.org/W2146947104","https://openalex.org/W2156218502","https://openalex.org/W2170836916","https://openalex.org/W4251181231","https://openalex.org/W4285719527","https://openalex.org/W6647072359","https://openalex.org/W6684805855"],"related_works":["https://openalex.org/W2968643431","https://openalex.org/W2122871747","https://openalex.org/W2942196653","https://openalex.org/W3114279067","https://openalex.org/W1972877171","https://openalex.org/W4390135167","https://openalex.org/W2998506550","https://openalex.org/W2188053476","https://openalex.org/W2599193808","https://openalex.org/W92979448"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,15,46,63,68,72,86,91,96,109,113,123,145,148],"design":[4],"and":[5,21,61,95,111,153],"development":[6],"of":[7,18,48,116,147],"a":[8,28,77,99],"robot":[9,64,73,105],"with":[10,14,37],"six":[11,32],"soft":[12,97],"limbs,":[13,34,49],"dual":[16],"capability":[17],"pushing-based":[19],"locomotion":[20,117,152],"grasping":[22,101],"by":[23,108],"wrapping":[24],"around":[25,85],"objects.":[26],"Specifically,":[27],"central":[29],"platform":[30],"lodges":[31],"silicone":[33],"radially":[35],"distributed,":[36],"cables":[38],"embedded.":[39],"A":[40],"new":[41],"mechanism-specific":[42],"gait,":[43],"invariant":[44],"regarding":[45],"number":[47],"has":[50],"been":[51],"implemented.":[52],"Functionally,":[53],"some":[54],"limbs":[55],"provide":[56],"stability":[57],"while":[58],"others":[59],"push":[60],"pull":[62],"to":[65,76,83,90,139],"locomote":[66],"in":[67,118,132,151],"desired":[69],"direction.":[70],"Once":[71],"is":[74,81,102,106,136],"close":[75],"target,":[78],"one":[79],"limb":[80,93],"elected":[82],"wrap":[84],"object":[87],"and,":[88],"thanks":[89],"particular":[92],"structure":[94],"material,":[98],"friction-based":[100],"achieved.":[103],"The":[104,142],"inspired":[107],"octopus":[110],"implements":[112],"key":[114],"principles":[115],"this":[119,128,140],"animal,":[120],"without":[121],"coping":[122],"full":[124],"body":[125],"structure.":[126],"For":[127],"reason":[129],"it":[130,135],"works":[131],"water,":[133],"but":[134],"not":[137],"restricted":[138],"environment.":[141],"experiments":[143],"show":[144],"effectiveness":[146],"original":[149],"solution":[150],"grasping.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}