{"id":"https://openalex.org/W4413945958","doi":"https://doi.org/10.1109/icra55743.2025.11128406","title":"A Bio-Inspired Sand-Rolling Robot: Effect of Body Shape on Sand Rolling Performance","display_name":"A Bio-Inspired Sand-Rolling Robot: Effect of Body Shape on Sand Rolling Performance","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945958","doi":"https://doi.org/10.1109/icra55743.2025.11128406"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.13919","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Xingjue Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xingjue Liao","raw_affiliation_strings":["University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429111","display_name":"Wenhao Liu","orcid":"https://orcid.org/0000-0002-4499-2967"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenhao Liu","raw_affiliation_strings":["University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052437772","display_name":"Hao Wu","orcid":"https://orcid.org/0000-0003-1494-0848"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Wu","raw_affiliation_strings":["University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067936185","display_name":"Feifei Qian","orcid":"https://orcid.org/0000-0001-9656-1168"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Feifei Qian","raw_affiliation_strings":["University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Electrical and Computer Engineering,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21581251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15943","last_page":"15949"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937999844551086,"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":0.9937999844551086,"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":0.9878000020980835,"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/robot","display_name":"Robot","score":0.5439010858535767},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3901767432689667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37103450298309326},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.35977262258529663},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3485104441642761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3188554048538208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28371939063072205}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5439010858535767},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3901767432689667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37103450298309326},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.35977262258529663},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3485104441642761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3188554048538208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28371939063072205}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2503.13919","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.13919","pdf_url":"https://arxiv.org/pdf/2503.13919","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2503.13919","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.13919","pdf_url":"https://arxiv.org/pdf/2503.13919","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6815356662","display_name":null,"funder_award_id":"2240075","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"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":33,"referenced_works":["https://openalex.org/W1970644774","https://openalex.org/W1974461875","https://openalex.org/W1979066010","https://openalex.org/W1992878443","https://openalex.org/W2005805981","https://openalex.org/W2043107329","https://openalex.org/W2065238107","https://openalex.org/W2076135051","https://openalex.org/W2079830044","https://openalex.org/W2084005980","https://openalex.org/W2097914940","https://openalex.org/W2112310950","https://openalex.org/W2112790930","https://openalex.org/W2130297497","https://openalex.org/W2146947104","https://openalex.org/W2165661088","https://openalex.org/W2165739402","https://openalex.org/W2165920800","https://openalex.org/W2197422560","https://openalex.org/W2212667385","https://openalex.org/W2468944535","https://openalex.org/W2798404144","https://openalex.org/W2972130248","https://openalex.org/W3008675455","https://openalex.org/W3025528286","https://openalex.org/W3025865369","https://openalex.org/W3102422407","https://openalex.org/W3168018690","https://openalex.org/W3189208719","https://openalex.org/W4232866751","https://openalex.org/W4233065347","https://openalex.org/W4315432713","https://openalex.org/W4387448689"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4404995717","https://openalex.org/W2016187641","https://openalex.org/W4404725684","https://openalex.org/W4413159334","https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W4409278740","https://openalex.org/W2898370298","https://openalex.org/W4410118003"],"abstract_inverted_index":{"The":[0],"capability":[1],"of":[2,75,108,112,125,141,153],"effectively":[3,51],"moving":[4],"on":[5,101,164,184],"complex":[6],"terrains":[7],"such":[8,28],"as":[9,29],"sand":[10,118,127],"and":[11,23,33,50,64,87,93,117,145,186,195],"gravel":[12],"can":[13,95,210],"empower":[14],"our":[15],"robots":[16],"to":[17,43,159,180,215],"robustly":[18],"operate":[19],"in":[20,56],"outdoor":[21],"environments,":[22],"assist":[24],"with":[25],"critical":[26,173],"tasks":[27],"environment":[30],"monitoring,":[31],"search-and-rescue,":[32],"supply":[34],"delivery.":[35],"Inspired":[36],"by":[37,72,199],"the":[38,73,113,120,123,126,138,147,157,172,192],"Mount":[39],"Lyell":[40],"salamander's":[41],"ability":[42],"curl":[44],"its":[45,67,76,151],"body":[46,83,174],"into":[47,207],"a":[48,61,97,129,167],"loop":[49],"roll":[52],"down":[53],"hill":[54],"slopes,":[55],"this":[57,165],"study":[58],"we":[59],"develop":[60],"sand-rolling":[62],"robot":[63,116,134,148,197],"investigate":[65],"how":[66,208],"locomotion":[68,193],"performance":[69],"is":[70],"governed":[71],"shape":[74,179],"body.":[77],"We":[78,89],"experimentally":[79],"tested":[80],"three":[81],"different":[82,212],"shapes:":[84],"Hexagon,":[85],"Quadrilateral,":[86],"Triangle.":[88],"found":[90],"that":[91,190],"Hexagon":[92],"Triangle":[94],"achieve":[96,216],"faster":[98],"rolling":[99,178,183,218],"speed":[100,198],"sand,":[102,185],"but":[103],"exhibited":[104],"more":[105,200],"frequent":[106],"failures":[107,194],"getting":[109],"stuck.":[110],"Analysis":[111],"interaction":[114],"between":[115],"revealed":[119],"failure":[121],"mechanism:":[122],"deformation":[124],"produced":[128],"local":[130],"\u201csand":[131],"incline\u201d":[132],"underneath":[133],"contact":[135],"segments,":[136],"increasing":[137],"effective":[139],"region":[140],"supporting":[142],"polygon":[143],"(ERSP)":[144],"preventing":[146],"from":[149],"shifting":[150],"center":[152],"mass":[154],"(CoM)":[155],"outside":[156],"ERSP":[158],"produce":[160,181],"sustainable":[161],"rolling.":[162],"Based":[163],"mechanism,":[166],"highly-simplified":[168],"model":[169],"successfully":[170],"captured":[171],"pitch":[175],"for":[176],"each":[177],"sustained":[182],"informed":[187],"design":[188],"adaptations":[189],"mitigated":[191],"improved":[196],"than":[201],"200%.":[202],"Our":[203],"results":[204],"provide":[205],"insights":[206],"locomotors":[209],"utilize":[211],"morphological":[213],"features":[214],"robust":[217],"motion":[219],"across":[220],"deformable":[221],"substrates.":[222]},"counts_by_year":[],"updated_date":"2026-05-10T08:33:47.465468","created_date":"2025-10-10T00:00:00"}
