{"id":"https://openalex.org/W2110558255","doi":"https://doi.org/10.1109/iros.2007.4399491","title":"Self-organization of environmentally-adaptive shapes on a modular robot","display_name":"Self-organization of environmentally-adaptive shapes on a modular robot","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2110558255","doi":"https://doi.org/10.1109/iros.2007.4399491","mag":"2110558255"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5038300748","display_name":"Chih-Han Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chih-Han Yu","raw_affiliation_strings":["School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","Harvard Univ, Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Univ, Cambridge","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031343498","display_name":"F.W. Willems","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francois-Xavier Willems","raw_affiliation_strings":["School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","Harvard Univ, Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Univ, Cambridge","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005669988","display_name":"Donald E. Ingber","orcid":"https://orcid.org/0000-0002-4319-6520"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donald Ingber","raw_affiliation_strings":["Department of Pathology, Harvard Medical School, Boston, MA, USA","Dept. of Pathology, Harvard Medical School, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Pathology, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Dept. of Pathology, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"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/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radhika Nagpal","raw_affiliation_strings":["School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2353","last_page":"2360"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9861999750137329,"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"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9835000038146973,"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/modular-design","display_name":"Modular design","score":0.7974169254302979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7403256297111511},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7373973727226257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6582105159759521},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.5378540754318237},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43172362446784973},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4224448502063751},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4013919532299042},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32630059123039246},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2803378701210022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27549922466278076},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13003677129745483}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7974169254302979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7403256297111511},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7373973727226257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6582105159759521},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.5378540754318237},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43172362446784973},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4224448502063751},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4013919532299042},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32630059123039246},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2803378701210022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27549922466278076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13003677129745483},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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":2,"locations":[{"id":"doi:10.1109/iros.2007.4399491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.135.5318","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.135.5318","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://eecs.harvard.edu/~rad/ssr/papers/iros07-chihhan.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.7300000190734863}],"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":16,"referenced_works":["https://openalex.org/W1544323403","https://openalex.org/W1597892009","https://openalex.org/W2046679093","https://openalex.org/W2075011977","https://openalex.org/W2108266858","https://openalex.org/W2112764944","https://openalex.org/W2130846801","https://openalex.org/W2139714790","https://openalex.org/W2139841931","https://openalex.org/W2153005597","https://openalex.org/W2160643434","https://openalex.org/W2160673717","https://openalex.org/W2294959121","https://openalex.org/W4234931164","https://openalex.org/W6632682667","https://openalex.org/W6635660230"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Modular":[0],"robots":[1],"have":[2],"the":[3,41,72,86,101,106,136,144],"potential":[4],"to":[5,16,40,57,63],"achieve":[6],"a":[7,30,46,58,65,79,128],"wide":[8,31,80],"range":[9,32],"of":[10,33,51,77,82,146],"applications":[11,113],"by":[12],"reconfiguring":[13],"their":[14],"shapes":[15,37],"perform":[17],"different":[18],"functions.":[19],"This":[20],"requires":[21],"robust":[22,92,142],"and":[23,85,93,124,141,149],"scalable":[24],"control":[25,88],"algorithms":[26],"that":[27,38,71],"can":[28,115],"form":[29,64],"user-specified":[34],"shapes,":[35,84],"including":[36],"adapt":[39],"environment.":[42],"Here":[43],"we":[44,110,134],"present":[45,111],"decentralized":[47],"algorithm":[48,74,97,137],"for":[49],"self-organizing":[50],"environmentally-adaptive":[52,83],"shapes.":[53],"We":[54,69],"apply":[55],"it":[56],"chain-style":[59],"modular":[60],"robot,":[61],"configured":[62],"flexible":[66],"sheet":[67],"structure.":[68],"show":[70],"proposed":[73],"is":[75,89,98,138],"capable":[76],"achieving":[78],"class":[81],"module":[87],"simple,":[90],"scalable,":[91],"provably":[94],"correct.":[95],"The":[96],"also":[99],"self-maintaining:":[100],"shape":[102],"automatically":[103],"adapts":[104],"if":[105],"environment":[107],"changes.":[108],"Finally,":[109],"several":[112],"which":[114],"be":[116],"achieved":[117],"within":[118],"this":[119],"framework":[120],"via":[121],"robot":[122],"prototypes":[123],"simulations,":[125],"such":[126],"as":[127],"self-balancing":[129],"table.":[130],"In":[131],"our":[132],"experiments,":[133],"demonstrate":[135],"highly":[139],"responsive":[140],"in":[143],"face":[145],"real-world":[147],"actuation":[148],"sensing":[150],"noise.":[151]},"counts_by_year":[{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}