{"id":"https://openalex.org/W3205596832","doi":"https://doi.org/10.1109/icra48506.2021.9561018","title":"A Legged Soft Robot Platform for Dynamic Locomotion","display_name":"A Legged Soft Robot Platform for Dynamic Locomotion","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205596832","doi":"https://doi.org/10.1109/icra48506.2021.9561018","mag":"3205596832"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5081567878","display_name":"Boxi Xia","orcid":"https://orcid.org/0000-0002-1342-1002"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Boxi Xia","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102862564","display_name":"Jiaming Fu","orcid":"https://orcid.org/0009-0006-0456-5115"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaming Fu","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101085137","display_name":"Hongbo Zhu","orcid":"https://orcid.org/0009-0002-3229-0260"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongbo Zhu","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000957210","display_name":"Zhicheng Song","orcid":"https://orcid.org/0000-0001-6467-9225"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhicheng Song","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101795803","display_name":"Yibo Jiang","orcid":"https://orcid.org/0000-0001-7540-3857"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yibo Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025894735","display_name":"Hod Lipson","orcid":"https://orcid.org/0000-0003-0769-4618"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hod Lipson","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5081567878"],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":0.8356,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.69601419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11812","last_page":"11819"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9984999895095825,"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/robot","display_name":"Robot","score":0.8090788125991821},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6158707737922668},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5679354071617126},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5567660331726074},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5175315737724304},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5042351484298706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4912833571434021},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4884273111820221},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.48315495252609253},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.48107361793518066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39396095275878906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37591812014579773},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.36047500371932983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2171216905117035},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06529539823532104}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8090788125991821},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6158707737922668},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5679354071617126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5567660331726074},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5175315737724304},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5042351484298706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4912833571434021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4884273111820221},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.48315495252609253},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.48107361793518066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39396095275878906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37591812014579773},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.36047500371932983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2171216905117035},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06529539823532104},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324890","display_name":"Ministry of Defense","ror":"https://ror.org/04wxm6g36"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1021767062","https://openalex.org/W1545542339","https://openalex.org/W2039279693","https://openalex.org/W2071188031","https://openalex.org/W2078139367","https://openalex.org/W2096169664","https://openalex.org/W2098998403","https://openalex.org/W2112961542","https://openalex.org/W2112978907","https://openalex.org/W2141905643","https://openalex.org/W2158782408","https://openalex.org/W2515930553","https://openalex.org/W2528496775","https://openalex.org/W2549216668","https://openalex.org/W2569338880","https://openalex.org/W2737689118","https://openalex.org/W2755921665","https://openalex.org/W2783801856","https://openalex.org/W2790084889","https://openalex.org/W2792758432","https://openalex.org/W2801458905","https://openalex.org/W2861559353","https://openalex.org/W2890475775","https://openalex.org/W2903854300","https://openalex.org/W2909553221","https://openalex.org/W2911087563","https://openalex.org/W2911887105","https://openalex.org/W2949174210","https://openalex.org/W2966665557","https://openalex.org/W2968213087","https://openalex.org/W2972810470","https://openalex.org/W2976836745","https://openalex.org/W2977389550","https://openalex.org/W2995253198","https://openalex.org/W2996185064","https://openalex.org/W3007035358","https://openalex.org/W3021947263","https://openalex.org/W3023786610","https://openalex.org/W3039973416","https://openalex.org/W3089491727","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3132799815","https://openalex.org/W3137702954","https://openalex.org/W4244367163","https://openalex.org/W4250058668","https://openalex.org/W6626650708","https://openalex.org/W6632737502","https://openalex.org/W6767349745","https://openalex.org/W6769017845","https://openalex.org/W6791086184"],"related_works":["https://openalex.org/W2049051459","https://openalex.org/W2967859214","https://openalex.org/W3127708841","https://openalex.org/W4390099652","https://openalex.org/W2081396862","https://openalex.org/W4390357468","https://openalex.org/W4292952632","https://openalex.org/W2155622151","https://openalex.org/W3104537609","https://openalex.org/W2141345545"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"open-source":[4],"untethered":[5,99],"quadrupedal":[6],"soft":[7,22,34,37,73,101,118],"robot":[8,19,69,83],"platform":[9],"for":[10],"dynamic":[11],"locomotion":[12,60],"(e.g.,":[13],"high-speed":[14],"running":[15],"and":[16,36,56],"backflipping).":[17],"The":[18,32],"is":[20],"mostly":[21],"(80":[23],"vol.%)":[24],"while":[25],"driven":[26],"by":[27],"four":[28],"geared":[29],"servo":[30],"motors.":[31],"robot\u2019s":[33],"body":[35,74,93],"legs":[38],"were":[39],"3D":[40],"printed":[41],"with":[42,111],"gyroid":[43],"infill":[44],"using":[45],"a":[46,71,87],"flexible":[47],"material,":[48],"enabling":[49],"it":[50],"to":[51,53,104],"conform":[52],"the":[54,68,81],"environment":[55],"passively":[57],"stabilize":[58],"during":[59],"in":[61,70,79],"multi-terrain":[62],"environments.":[63],"In":[64],"addition,":[65],"we":[66],"simulated":[67],"real-time":[72],"simulation.":[75],"With":[76],"tuned":[77],"gaits":[78],"simulation,":[80],"real":[82],"can":[84,115],"locomote":[85],"at":[86],"speed":[88],"of":[89],"0.9":[90],"m/s":[91],"(2.5":[92],"length/second),":[94],"substantially":[95],"faster":[96],"than":[97],"most":[98],"legged":[100],"robots":[102],"published":[103],"date.":[105],"We":[106],"hope":[107],"this":[108],"platform,":[109],"along":[110],"its":[112],"verified":[113],"simulator,":[114],"catalyze":[116],"agile":[117],"robots'":[119],"development.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}