{"id":"https://openalex.org/W2738599915","doi":"https://doi.org/10.1109/icra.2017.7989072","title":"Self-folded soft robotic structures with controllable joints","display_name":"Self-folded soft robotic structures with controllable joints","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738599915","doi":"https://doi.org/10.1109/icra.2017.7989072","mag":"2738599915"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989072","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011962400","display_name":"Cynthia Sung","orcid":"https://orcid.org/0000-0002-8967-1841"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cynthia Sung","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047960693","display_name":"Rhea Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rhea Lin","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068673040","display_name":"Shuhei Miyashita","orcid":"https://orcid.org/0000-0002-9795-9247"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuhei Miyashita","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078379560","display_name":"Sehyuk Yim","orcid":"https://orcid.org/0000-0003-2152-0307"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sehyuk Yim","raw_affiliation_strings":["Department of Electronics, University of York, York, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, University of York, York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"580","last_page":"587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998000264167786,"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/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":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.7401086688041687},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.6436742544174194},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5901479721069336},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.509259819984436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4859548807144165},{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.43024742603302},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37819936871528625},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.33269140124320984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32696443796157837},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3046868145465851},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1843065619468689}],"concepts":[{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.7401086688041687},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.6436742544174194},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5901479721069336},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.509259819984436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4859548807144165},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.43024742603302},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37819936871528625},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.33269140124320984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32696443796157837},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3046868145465851},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1843065619468689},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989072","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1575924372","https://openalex.org/W1943821940","https://openalex.org/W1966705057","https://openalex.org/W1992020923","https://openalex.org/W1996085422","https://openalex.org/W2014937114","https://openalex.org/W2022152426","https://openalex.org/W2027454283","https://openalex.org/W2040602726","https://openalex.org/W2049460350","https://openalex.org/W2068086746","https://openalex.org/W2073731053","https://openalex.org/W2078147254","https://openalex.org/W2080574972","https://openalex.org/W2096645690","https://openalex.org/W2112565951","https://openalex.org/W2113076624","https://openalex.org/W2149165496","https://openalex.org/W2155337985","https://openalex.org/W2215913752","https://openalex.org/W2403249444","https://openalex.org/W2515930553","https://openalex.org/W2963239712"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2237573393","https://openalex.org/W69686146","https://openalex.org/W563320997","https://openalex.org/W2390622580"],"abstract_inverted_index":{"This":[0],"paper":[1,149],"describes":[2],"additive":[3,158],"self-folding,":[4],"an":[5],"origami-inspired":[6],"rapid":[7,22],"fabrication":[8,23,117,124,200],"approach":[9],"for":[10,83,153,167,175,218],"creating":[11],"actuatable":[12],"compliant":[13,128],"structures.":[14],"Recent":[15],"work":[16],"in":[17,64,98,147],"3-D":[18,62,132,155],"printing":[19],"and":[20,46,68,93,118,137,150,188,199,210,213,225,230],"other":[21],"processes":[24],"have":[25],"mostly":[26],"focused":[27],"on":[28,202],"rigid":[29],"objects":[30,32],"or":[31,109,173],"that":[33,56,89],"can":[34,90,102,163,185],"achieve":[35],"small":[36],"deformations.":[37],"In":[38],"contrast,":[39],"soft":[40],"robots":[41],"often":[42],"require":[43],"elastic":[44],"materials":[45],"large":[47,86],"amounts":[48],"of":[49,60,76],"movement.":[50],"Additive":[51],"self-folding":[52,119,159],"is":[53],"a":[54,61,65,74,140,207,211],"process":[55,146],"involves":[57],"cutting":[58],"slices":[59,97],"object":[63],"long":[66],"strip":[67],"then":[69],"pleat":[70],"folding":[71,84],"them":[72],"into":[73,157],"likeness":[75],"the":[77,99,123,182,215,222],"original":[78],"model.":[79],"The":[80,161],"zigzag":[81],"pattern":[82],"enables":[85],"bending":[87],"movements":[88],"be":[91,103,135,164,186],"actuated":[92],"controlled.":[94],"Gaps":[95],"between":[96],"folded":[100],"model":[101],"designed":[104,136],"to":[105,121,134,191],"provide":[106,151],"larger":[107],"deformations":[108],"higher":[110],"shape":[111],"accuracy.":[112],"We":[113,143,178,195],"advance":[114],"existing":[115],"planar":[116],"techniques":[120],"automate":[122],"process,":[125],"enabling":[126],"highly":[127],"structures":[129,184],"with":[130],"complex":[131],"geometries":[133],"fabricated":[138],"within":[139],"few":[141],"hours.":[142],"describe":[144,180],"this":[145,148],"algorithms":[152],"converting":[154],"meshes":[156],"designs.":[160],"designs":[162],"rapidly":[165],"instrumented":[166],"global":[168],"control":[169,193],"using":[170,228],"magnetic":[171,231],"fields":[172],"tendon-driven":[174,192],"local":[176],"bending.":[177],"also":[179],"how":[181],"resulting":[183],"modeled":[187],"their":[189],"responses":[190],"predicted.":[194],"test":[196],"our":[197],"design":[198],"methods":[201],"three":[203],"models":[204,227],"(a":[205],"bunny,":[206],"tuna":[208,223],"fish,":[209],"starfish)":[212],"demonstrate":[214],"method's":[216],"potential":[217],"actuation":[219],"by":[220],"actuating":[221],"fish":[224],"starfish":[226],"tendons":[229],"control.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}