{"id":"https://openalex.org/W2029129519","doi":"https://doi.org/10.1109/icra.2014.6907272","title":"Design of a 3D-printed soft robot with posture and steering control","display_name":"Design of a 3D-printed soft robot with posture and steering control","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2029129519","doi":"https://doi.org/10.1109/icra.2014.6907272","mag":"2029129519"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5040511727","display_name":"Takuya Umedachi","orcid":"https://orcid.org/0000-0002-2244-9963"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]},{"id":"https://openalex.org/I205924995","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466","country_code":"JP","type":"nonprofit","lineage":["https://openalex.org/I1319490839","https://openalex.org/I205924995"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Takuya Umedachi","raw_affiliation_strings":["Japan Society for the Promotion of Science and research fellow of Japan Science and Technology Agency (JST) CREST at Tufts University, USA and Hiroshima University, Medford, MA","Japan Society for the Promotion of Science and research fellow of Japan Science and Technology Agency (JST) CREST at Tufts University, Medford MA 02155, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Society for the Promotion of Science and research fellow of Japan Science and Technology Agency (JST) CREST at Tufts University, USA and Hiroshima University, Medford, MA","institution_ids":["https://openalex.org/I205924995","https://openalex.org/I121934306","https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Japan Society for the Promotion of Science and research fellow of Japan Science and Technology Agency (JST) CREST at Tufts University, Medford MA 02155, USA","institution_ids":["https://openalex.org/I205924995","https://openalex.org/I121934306","https://openalex.org/I4210086780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031103460","display_name":"Barry A. Trimmer","orcid":"https://orcid.org/0000-0003-1782-7373"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Barry A. Trimmer","raw_affiliation_strings":["Natural Sciences and Director of Neuromechanics and Biomimetic Devices Laboratory, Tufts University, Medford, MA, USA","Neuromechanics and Biomimetic Devices Laboratory at Tufts University, Medford MA 02155, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Natural Sciences and Director of Neuromechanics and Biomimetic Devices Laboratory, Tufts University, Medford, MA, USA","institution_ids":["https://openalex.org/I121934306"]},{"raw_affiliation_string":"Neuromechanics and Biomimetic Devices Laboratory at Tufts University, Medford MA 02155, USA","institution_ids":["https://openalex.org/I121934306"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2704,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.91639331,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2874","last_page":"2879"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9987999796867371,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9921000003814697,"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/crawling","display_name":"Crawling","score":0.7747213840484619},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7193851470947266},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7038634419441223},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.6428779363632202},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.5635442733764648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5507123470306396},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5155770182609558},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5018589496612549},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.47968173027038574},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.47300368547439575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44872114062309265},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4269610345363617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4226924180984497},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.418700635433197},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.41067248582839966},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38477060198783875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3091161847114563},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17824572324752808},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10865825414657593},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.09532764554023743}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7747213840484619},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7193851470947266},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7038634419441223},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.6428779363632202},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.5635442733764648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5507123470306396},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5155770182609558},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5018589496612549},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.47968173027038574},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.47300368547439575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44872114062309265},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4269610345363617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4226924180984497},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.418700635433197},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.41067248582839966},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38477060198783875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3091161847114563},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17824572324752808},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10865825414657593},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.09532764554023743},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","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},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1503945108","https://openalex.org/W1978415393","https://openalex.org/W1986717340","https://openalex.org/W2008768421","https://openalex.org/W2009357495","https://openalex.org/W2010745100","https://openalex.org/W2027454283","https://openalex.org/W2038873597","https://openalex.org/W2063797945","https://openalex.org/W2079574144","https://openalex.org/W2152605277","https://openalex.org/W4231327205","https://openalex.org/W4251181231"],"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/W3190856263","https://openalex.org/W3094251759","https://openalex.org/W2792758432","https://openalex.org/W2618733545","https://openalex.org/W3161089714"],"abstract_inverted_index":{"Both":[0],"postural":[1],"maintenance":[2],"and":[3,26,37,47,56,83,126,166,172,183],"rhythm":[4],"generation":[5],"are":[6,29,168],"keys":[7],"to":[8,51,57,59,104,119,151],"generating":[9],"adaptive":[10],"behavior":[11],"in":[12,19,34,53,69,73,135],"all":[13,35],"animals.":[14],"This":[15],"is":[16,117],"particularly":[17],"evident":[18],"soft":[20,71,95,109,177],"animals":[21],"such":[22],"as":[23,101],"caterpillars,":[24,100],"worm":[25],"flatworms":[27],"that":[28,163],"capable":[30],"of":[31,114,129,139,175],"moving":[32],"freely":[33],"directions":[36],"adopting":[38],"intricate":[39],"postures.":[40],"They":[41],"can":[42,179],"also":[43],"exploit":[44],"three-dimensional":[45],"deformations":[46,138],"nonlinear":[48],"structural":[49],"properties":[50,174],"move":[52],"complex":[54,182],"environments":[55],"respond":[58],"external":[60],"forces.":[61],"These":[62],"capabilities":[63],"have":[64,91,147],"inspired":[65,98],"a":[66,93,102,157],"new":[67],"interest":[68],"using":[70],"materials":[72,79],"robotic":[74],"applications":[75],"but":[76],"highly":[77],"deformable":[78],"create":[80],"significant":[81],"design":[82],"control":[84,150],"problems.":[85],"In":[86,143],"previous":[87,112],"work":[88],"the":[89,115,121,136,152,176],"authors":[90],"developed":[92],"3D-printed":[94],"(3D-PS)":[96],"robot,":[97],"by":[99,131],"platform":[103],"investigate":[105],"methods":[106],"for":[107],"controlling":[108],"robots.":[110],"The":[111],"version":[113],"robot":[116,154],"able":[118],"reproduce":[120],"different":[122,140],"gait":[123],"patterns":[124],"(inching":[125],"crawling":[127],"motion)":[128],"caterpillars":[130],"changing":[132],"temporal":[133],"difference":[134],"rhythmic":[137],"body":[141,178],"parts.":[142],"this":[144],"paper,":[145],"we":[146],"added":[148],"posture":[149,165],"3D-PS":[153],"together":[155],"with":[156],"steering":[158,167],"capability.":[159],"Experimental":[160],"results":[161],"show":[162],"although":[164],"usually":[169],"related,":[170],"elastic":[171],"continuum":[173],"produce":[180],"more":[181],"versatile":[184],"behaviors.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}