{"id":"https://openalex.org/W2737689118","doi":"https://doi.org/10.1109/icra.2017.7989501","title":"A high speed soft robot based on dielectric elastomer actuators","display_name":"A high speed soft robot based on dielectric elastomer actuators","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737689118","doi":"https://doi.org/10.1109/icra.2017.7989501","mag":"2737689118"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989501","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/A5074130221","display_name":"Mihai Duduta","orcid":"https://orcid.org/0000-0001-9965-9654"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mihai Duduta","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired Engineering, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired Engineering, Boston, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107700446","display_name":"David R. Clarke","orcid":"https://orcid.org/0000-0002-5902-7369"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David R. Clarke","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired Engineering, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired Engineering, Boston, MA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robert J. Wood","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired Engineering, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired Engineering, Boston, MA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":27.9326,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":{"value":0.99932348,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4346","last_page":"4351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9995999932289124,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9995999932289124,"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":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/crawling","display_name":"Crawling","score":0.8258532285690308},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.7995750308036804},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7873364686965942},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6663216352462769},{"id":"https://openalex.org/keywords/dielectric","display_name":"Dielectric","score":0.5856858491897583},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5794745683670044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47607749700546265},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4495377540588379},{"id":"https://openalex.org/keywords/dielectric-elastomers","display_name":"Dielectric elastomers","score":0.42790350317955017},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.42334163188934326},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.4140802323818207},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3922500014305115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26209527254104614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17481425404548645},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.16769865155220032},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.1453542411327362}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8258532285690308},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.7995750308036804},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7873364686965942},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6663216352462769},{"id":"https://openalex.org/C133386390","wikidata":"https://www.wikidata.org/wiki/Q184996","display_name":"Dielectric","level":2,"score":0.5856858491897583},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5794745683670044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47607749700546265},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4495377540588379},{"id":"https://openalex.org/C51044723","wikidata":"https://www.wikidata.org/wiki/Q3278107","display_name":"Dielectric elastomers","level":3,"score":0.42790350317955017},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.42334163188934326},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.4140802323818207},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3922500014305115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26209527254104614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17481425404548645},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.16769865155220032},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.1453542411327362},{"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/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989501","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":[{"score":0.7699999809265137,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1545301666","https://openalex.org/W1984187759","https://openalex.org/W1988891099","https://openalex.org/W1992812695","https://openalex.org/W1992938267","https://openalex.org/W2009555093","https://openalex.org/W2010745100","https://openalex.org/W2012194282","https://openalex.org/W2021538330","https://openalex.org/W2022563787","https://openalex.org/W2023587142","https://openalex.org/W2025613329","https://openalex.org/W2029859962","https://openalex.org/W2040221793","https://openalex.org/W2052915114","https://openalex.org/W2055823902","https://openalex.org/W2064271893","https://openalex.org/W2070175689","https://openalex.org/W2071188031","https://openalex.org/W2076899694","https://openalex.org/W2097511512","https://openalex.org/W2119361268","https://openalex.org/W2120556101","https://openalex.org/W2129993509","https://openalex.org/W2141905643","https://openalex.org/W2154963933","https://openalex.org/W2163566443","https://openalex.org/W2171995939","https://openalex.org/W2204643905","https://openalex.org/W2294111085","https://openalex.org/W2468140274","https://openalex.org/W2470745449","https://openalex.org/W4235469158","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W2566658409","https://openalex.org/W3119324922","https://openalex.org/W2352686120","https://openalex.org/W2372594123","https://openalex.org/W2358310581","https://openalex.org/W2026132847","https://openalex.org/W4385695127","https://openalex.org/W2137810919","https://openalex.org/W2964752624","https://openalex.org/W4255854114"],"abstract_inverted_index":{"A":[0,32],"multilayer":[1],"fabrication":[2],"method":[3],"has":[4],"been":[5],"used":[6],"to":[7,58,67],"create":[8],"crawling":[9],"soft":[10,88],"robots":[11,55],"based":[12],"on":[13,53],"dielectric":[14,62],"elastomer":[15,63,80],"actuators.":[16],"These":[17],"actuators":[18],"are":[19,86],"created":[20],"without":[21],"the":[22,27,60,78,84],"need":[23,28],"for":[24,29,48,77],"pre-stretch,":[25],"eliminating":[26],"rigid":[30,93],"components.":[31],"four-legged,":[33],"multi-gait":[34],"capable":[35,69],"crawler":[36],"can":[37],"be":[38,59],"fabricated":[39],"in":[40],"a":[41],"matter":[42],"of":[43,70],"hours":[44],"and":[45,89],"shows":[46],"promise":[47],"future":[49],"untethered":[50],"systems.":[51],"Studies":[52],"inchworm":[54],"show":[56],"them":[57],"fastest":[61],"actuator-based":[64],"systems":[65],"reported":[66],"date,":[68],"traveling":[71],"faster":[72],"than":[73],"1":[74],"body":[75],"length/second":[76],"best":[79],"available.":[81],"Most":[82],"importantly,":[83],"devices":[85],"primarily":[87],"deformable,":[90],"with":[91],"few":[92],"attachments.":[94]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":1}],"updated_date":"2026-08-25T07:29:55.448023","created_date":"2025-10-10T00:00:00"}