{"id":"https://openalex.org/W3091463960","doi":"https://doi.org/10.1109/icra40945.2020.9196565","title":"Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective","display_name":"Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091463960","doi":"https://doi.org/10.1109/icra40945.2020.9196565","mag":"3091463960"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196565","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/290745","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070351417","display_name":"Melinda Malley","orcid":null},"institutions":[{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"Melinda Malley","raw_affiliation_strings":["School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045749881","display_name":"Bahar Haghighat","orcid":"https://orcid.org/0000-0003-3348-4702"},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Bahar Haghighat","raw_affiliation_strings":["School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096994374","display_name":"Lucie Houel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Lucie Houel","raw_affiliation_strings":["School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049251065","display_name":"Radhika Nagpal","orcid":"https://orcid.org/0000-0001-9756-0167"},"institutions":[{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Radhika Nagpal","raw_affiliation_strings":["School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences at Harvard University,Wyss Institute for Biologically Inspired Engineering","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, School of Engineering and Applied Sciences at Harvard University","institution_ids":["https://openalex.org/I4210123353"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070351417"],"corresponding_institution_ids":["https://openalex.org/I4210123353","https://openalex.org/I4210155100"],"apc_list":null,"apc_paid":null,"fwci":2.8361,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.90485146,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4565","last_page":"4571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.995199978351593,"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":0.9908000230789185,"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/traverse","display_name":"Traverse","score":0.7580873966217041},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7222380042076111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6286875009536743},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5700943470001221},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.44492414593696594},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.43457871675491333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4159632921218872},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.40322214365005493},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32211896777153015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23034459352493286}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7580873966217041},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7222380042076111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6286875009536743},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5700943470001221},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.44492414593696594},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.43457871675491333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4159632921218872},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.40322214365005493},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32211896777153015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23034459352493286},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9196565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196565","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:290745","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/290745","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:290745","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/290745","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1489108251","https://openalex.org/W1506160189","https://openalex.org/W1941089104","https://openalex.org/W1976620677","https://openalex.org/W1979745245","https://openalex.org/W1994444307","https://openalex.org/W2018274017","https://openalex.org/W2030775133","https://openalex.org/W2061745415","https://openalex.org/W2071417411","https://openalex.org/W2082144811","https://openalex.org/W2111147736","https://openalex.org/W2141724420","https://openalex.org/W2149841830","https://openalex.org/W2179278009","https://openalex.org/W2771764619","https://openalex.org/W2891489068","https://openalex.org/W4243647804"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913"],"abstract_inverted_index":{"Social":[0],"insects":[1],"successfully":[2],"create":[3,157],"bridges,":[4],"rafts,":[5],"nests":[6],"and":[7,15,42,60,69,102,118,122,130,143],"other":[8,97],"structures":[9,52,101,142,159],"out":[10],"of":[11,74,89,112,169],"their":[12],"own":[13],"bodies":[14],"do":[16],"so":[17],"with":[18,78],"no":[19],"centralized":[20],"control":[21],"system,":[22,85],"simply":[23],"by":[24],"following":[25],"local":[26,47,63,116,128],"rules.":[27],"For":[28],"example,":[29],"while":[30],"traversing":[31],"rough":[32],"terrain,":[33],"army":[34],"ants":[35],"(genus":[36],"Eciton)":[37],"build":[38,121],"bridges":[39,66,124],"which":[40],"grow":[41],"dissolve":[43,123],"in":[44,125],"response":[45,126],"to":[46,98,127,156,166],"traffic.":[48],"Because":[49],"these":[50],"self-assembled":[51,162],"incorporate":[53],"smart,":[54],"flexible":[55,90],"materials":[56],"(i.e.":[57],"ant":[58],"bodies)":[59],"emerge":[61],"from":[62],"behavior,":[64],"the":[65,72,167,170],"are":[67],"adaptive":[68],"dynamic.":[70],"With":[71],"goal":[73],"realizing":[75],"robotic":[76,136],"collectives":[77],"similar":[79],"features,":[80],"we":[81,109],"designed":[82],"a":[83,149],"hardware":[84],"Eciton":[86],"robotica,":[87],"consisting":[88],"robots":[91,120,154],"that":[92,138],"can":[93,164],"climb":[94],"over":[95],"each":[96],"assemble":[99],"compliant":[100],"communicate":[103],"locally":[104],"using":[105,114],"vibration.":[106],"In":[107],"simulation,":[108],"demonstrate":[110],"self-assembly":[111],"structures:":[113],"only":[115],"rules":[117],"information,":[119],"traffic":[129],"varying":[131],"terrain.":[132],"Unlike":[133],"previous":[134],"self-assembling":[135],"systems":[137],"focused":[139],"on":[140],"latticebased":[141],"predetermined":[144],"shapes,":[145],"our":[146],"system":[147],"takes":[148],"new":[150],"approach":[151],"where":[152],"soft":[153],"attach":[155],"amorphous":[158],"whose":[160],"final":[161],"shape":[163],"adapt":[165],"needs":[168],"group.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
