{"id":"https://openalex.org/W2009455739","doi":"https://doi.org/10.1109/iros.2010.5654364","title":"Teaching RoboClam to Dig: The design, testing, and genetic algorithm optimization of a biomimetic robot","display_name":"Teaching RoboClam to Dig: The design, testing, and genetic algorithm optimization of a biomimetic robot","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2009455739","doi":"https://doi.org/10.1109/iros.2010.5654364","mag":"2009455739"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5654364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5654364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/78659","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050175061","display_name":"Amos G. Winter","orcid":"https://orcid.org/0000-0002-4151-0889"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A G Winter","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036513591","display_name":"Robin Deits","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R L H Deits","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047997253","display_name":"Daniel S. Dorsch","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D S Dorsch","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111488007","display_name":"A. E. Hosoi","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A E Hosoi","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030295291","display_name":"Alexander H. Slocum","orcid":"https://orcid.org/0000-0002-5048-4109"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A H Slocum","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at the Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.3313,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.89314406,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4231","last_page":"4235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9847999811172485,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9585999846458435,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/digging","display_name":"Digging","score":0.7275803685188293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5727309584617615},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.5241577625274658},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4823950529098511},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4745529294013977},{"id":"https://openalex.org/keywords/burrow","display_name":"Burrow","score":0.47037452459335327},{"id":"https://openalex.org/keywords/shell","display_name":"Shell (structure)","score":0.43594279885292053},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4279170334339142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39656901359558105},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37369322776794434},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3468378782272339},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3389800190925598},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3080345392227173},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2712323069572449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2635623812675476},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2445182204246521},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23203986883163452},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.22103625535964966},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20877784490585327},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.2018190324306488},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14723828434944153},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.12892726063728333},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.12274467945098877},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11028704047203064}],"concepts":[{"id":"https://openalex.org/C2779080342","wikidata":"https://www.wikidata.org/wiki/Q4232202","display_name":"Digging","level":2,"score":0.7275803685188293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5727309584617615},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.5241577625274658},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4823950529098511},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4745529294013977},{"id":"https://openalex.org/C175422226","wikidata":"https://www.wikidata.org/wiki/Q1410542","display_name":"Burrow","level":2,"score":0.47037452459335327},{"id":"https://openalex.org/C2781052500","wikidata":"https://www.wikidata.org/wiki/Q2230313","display_name":"Shell (structure)","level":2,"score":0.43594279885292053},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4279170334339142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39656901359558105},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37369322776794434},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3468378782272339},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3389800190925598},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3080345392227173},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2712323069572449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2635623812675476},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2445182204246521},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23203986883163452},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.22103625535964966},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20877784490585327},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.2018190324306488},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14723828434944153},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.12892726063728333},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.12274467945098877},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11028704047203064},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5654364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5654364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/78659","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/78659","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/78659","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/78659","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"score":0.4000000059604645,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306250","display_name":"Battelle","ror":"https://ror.org/01h5tnr73"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W627479602","https://openalex.org/W1544329015","https://openalex.org/W1576655443","https://openalex.org/W1577616541","https://openalex.org/W1967676468","https://openalex.org/W1984795326","https://openalex.org/W2009651661","https://openalex.org/W2042534105","https://openalex.org/W2045572265","https://openalex.org/W2050527559","https://openalex.org/W2057363418","https://openalex.org/W2066270387","https://openalex.org/W2077955559","https://openalex.org/W2079288512","https://openalex.org/W2099850014","https://openalex.org/W2724853628","https://openalex.org/W6620101721","https://openalex.org/W6634451148","https://openalex.org/W6634524153"],"related_works":["https://openalex.org/W2085772326","https://openalex.org/W2076478312","https://openalex.org/W2355847463","https://openalex.org/W3115919441","https://openalex.org/W2052739302","https://openalex.org/W2268710572","https://openalex.org/W2065433565","https://openalex.org/W2316727863","https://openalex.org/W2091562912","https://openalex.org/W2152081711"],"abstract_inverted_index":{"Razor":[0],"clams":[1],"(Ensis":[2],"directus)":[3],"are":[4],"one":[5],"of":[6,33,41,80,114,138],"nature's":[7],"most":[8],"adept":[9],"burrowing":[10,28,65,77,155],"organisms,":[11],"able":[12,96],"to":[13,15,36,60,69,89,97,102,119],"dig":[14],"70cm":[16],"at":[17,99],"nearly":[18],"1cm/s":[19],"using":[20,31,54],"only":[21],"0.21J/cm.":[22],"We":[23,46],"discovered":[24],"that":[25,52,144],"Ensis":[26],"reduces":[27],"drag":[29],"by":[30,125],"motions":[32,147],"its":[34,44],"shell":[35],"fluidize":[37],"a":[38,50,86,105,133],"thin":[39],"layer":[40],"substrate":[42],"around":[43],"body.":[45],"have":[47],"developed":[48],"RoboClam,":[49],"robot":[51],"digs":[53],"the":[55,93,120,126],"same":[56],"mechanisms":[57],"as":[58],"Ensis,":[59,103],"explore":[61],"how":[62],"localized":[63],"fluidization":[64],"can":[66,148],"be":[67],"extended":[68],"engineering":[70],"applications.":[71],"In":[72],"this":[73],"work":[74],"we":[75],"present":[76],"performance":[78],"results":[79],"RoboClam":[81],"in":[82],"Ensis'":[83],"habitat.":[84],"Using":[85],"genetic":[87],"algorithm":[88],"optimize":[90],"RoboClam's":[91],"kinematics,":[92],"machine":[94],"was":[95],"burrow":[98],"speeds":[100],"comparable":[101],"with":[104],"power":[106,136],"law":[107,137],"relationship":[108],"between":[109],"digging":[110,146],"energy":[111],"and":[112],"depth":[113],"n":[115,121,139],"=":[116,122,140],"1.17,":[117],"close":[118],"1":[123],"achieved":[124],"animal.":[127],"Pushing":[128],"through":[129],"static":[130],"soil":[131],"has":[132],"theoretical":[134],"energy-depth":[135],"2,":[141],"which":[142],"means":[143],"Ensis-inspired":[145],"provide":[149],"exponential":[150],"energetic":[151],"savings":[152],"over":[153],"existing":[154],"methods.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}