{"id":"https://openalex.org/W2148084942","doi":"https://doi.org/10.1109/iros.2008.4651130","title":"Morpho: A Self-Deformable Modular Robot Inspired by Cellular Structure","display_name":"Morpho: A Self-Deformable Modular Robot Inspired by Cellular Structure","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2148084942","doi":"https://doi.org/10.1109/iros.2008.4651130","mag":"2148084942"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041149776","display_name":"Kristina Haller","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kristina Haller","raw_affiliation_strings":["Department of Mechanical Engineering, MIT, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"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/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"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":["Harvard Medical School and Children''s Hospital, Boston, MA, USA","School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard Medical School and Children''s Hospital, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering & Applied Sciences, Harvard University, Cambridge, 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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering & Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3571","last_page":"3578"},"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":0.9975000023841858,"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":0.9954000115394592,"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":0.804836630821228},{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.7365936040878296},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6626930832862854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6326350569725037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5979887247085571},{"id":"https://openalex.org/keywords/interfacing","display_name":"Interfacing","score":0.567977786064148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5102119445800781},{"id":"https://openalex.org/keywords/cellular-automaton","display_name":"Cellular automaton","score":0.4872256815433502},{"id":"https://openalex.org/keywords/multicellular-organism","display_name":"Multicellular organism","score":0.449759840965271},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37003687024116516},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3664688467979431},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24382317066192627},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20091480016708374},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1611846685409546},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.14250612258911133},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11447897553443909},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1092701256275177}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.804836630821228},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.7365936040878296},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6626930832862854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6326350569725037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5979887247085571},{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.567977786064148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5102119445800781},{"id":"https://openalex.org/C35527583","wikidata":"https://www.wikidata.org/wiki/Q189156","display_name":"Cellular automaton","level":2,"score":0.4872256815433502},{"id":"https://openalex.org/C74318829","wikidata":"https://www.wikidata.org/wiki/Q36458","display_name":"Multicellular organism","level":3,"score":0.449759840965271},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37003687024116516},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3664688467979431},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24382317066192627},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20091480016708374},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1611846685409546},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.14250612258911133},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11447897553443909},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1092701256275177},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2008.4651130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.163.2013","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.163.2013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.fas.harvard.edu/~chyu/iros_morpho.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1487395029","https://openalex.org/W1514724588","https://openalex.org/W1523685816","https://openalex.org/W1526777436","https://openalex.org/W1539718337","https://openalex.org/W1978711911","https://openalex.org/W1980508363","https://openalex.org/W2046679093","https://openalex.org/W2052766715","https://openalex.org/W2062802099","https://openalex.org/W2075011977","https://openalex.org/W2101392651","https://openalex.org/W2104983615","https://openalex.org/W2110558255","https://openalex.org/W2139714790","https://openalex.org/W2139841931","https://openalex.org/W2145745703","https://openalex.org/W2145828929","https://openalex.org/W2157247055","https://openalex.org/W2160673717","https://openalex.org/W2161198254","https://openalex.org/W2165530525","https://openalex.org/W2165826950","https://openalex.org/W2294959121","https://openalex.org/W3084327065","https://openalex.org/W3193680531","https://openalex.org/W6676379547","https://openalex.org/W6683729425","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2040728928","https://openalex.org/W2902808963","https://openalex.org/W2727566482","https://openalex.org/W1974778898"],"abstract_inverted_index":{"We":[0,156,202],"present":[1,157],"a":[2,63,144,188,199],"modular":[3,113,215],"robot":[4,197],"design":[5,20,109],"inspired":[6],"by":[7],"the":[8,24,34,54,81,87],"creation":[9],"of":[10,27,46,57,190],"complex":[11],"structures":[12,135,164],"and":[13,37,44,73,95,124,198,210],"functions":[14],"in":[15,65,214],"biology":[16],"via":[17],"deformation.":[18],"Our":[19],"is":[21,206],"based":[22],"on":[23,105],"Tensegrity":[25],"model":[26],"cellular":[28],"structure,":[29],"where":[30],"active":[31,116],"filaments":[32],"within":[33],"cell":[35,42],"contract":[36],"expand":[38],"to":[39,89,99,159,167,172,174],"control":[40],"individual":[41],"shape,":[43],"sheets":[45],"such":[47,162,193],"cells":[48],"undergo":[49],"large-scale":[50,92],"shape":[51,71,93,212],"change":[52,72,94,213],"through":[53],"cooperative":[55],"action":[56],"connected":[58],"cells.":[59],"Such":[60],"deformations":[61],"play":[62],"role":[64],"many":[66],"processes,":[67],"e.g.":[68],"early":[69],"embryo":[70],"lamprey":[74],"locomotion.":[75],"Modular":[76],"robotic":[77,163],"systems":[78],"that":[79,136,161,181,204],"replicate":[80],"basic":[82],"deformable":[83],"multicellular":[84],"structure":[85],"have":[86],"potential":[88],"quickly":[90],"generate":[91],"create":[96],"dynamic":[97,209],"shapes":[98],"achieve":[100],"different":[101,112,175],"global":[102],"functions.":[103],"Based":[104],"this":[106],"principle,":[107],"our":[108],"includes":[110],"four":[111],"components:":[114],"(1)":[115],"links,":[117,120],"(2)":[118],"passive":[119],"(3)":[121],"surface":[122],"membranes,":[123],"(4)":[125],"interfacing":[126],"cubes.":[127],"In":[128,177],"hardware":[129],"implementation,":[130],"we":[131,179],"show":[132,180],"several":[133],"self-deformable":[134,145],"can":[137,184],"be":[138,185],"generated":[139],"from":[140],"these":[141,182],"components,":[142],"including":[143],"surface,":[146],"expandable":[147],"cube,":[148],"terrain-adaptive":[149],"bridge":[150],"[C.-H.":[151],"Yu":[152],"et":[153],"al.,":[154],"2007].":[155],"experiments":[158],"demonstrate":[160],"are":[165],"able":[166],"perform":[168],"real":[169],"time":[170],"deformation":[171],"adapt":[173],"environments.":[176],"simulation,":[178],"components":[183],"configured":[186],"into":[187],"variety":[189],"bio-inspired":[191],"robots,":[192],"as":[194],"an":[195],"amoeba-like":[196],"tissue-inspired":[200],"material.":[201],"argue":[203],"self-deformation":[205],"well-suited":[207],"for":[208],"sensing-adaptive":[211],"robotics.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}