{"id":"https://openalex.org/W2773787124","doi":"https://doi.org/10.1109/iros.2017.8206295","title":"Towards rapid mechanical customization of cm-scale self-folding agents","display_name":"Towards rapid mechanical customization of cm-scale self-folding agents","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773787124","doi":"https://doi.org/10.1109/iros.2017.8206295","mag":"2773787124"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5051578659","display_name":"William P. Weston-Dawkes","orcid":"https://orcid.org/0000-0002-0779-6916"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William P. Weston-Dawkes","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027127088","display_name":"Aaron Ong","orcid":"https://orcid.org/0000-0002-0088-3996"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aaron C. Ong","raw_affiliation_strings":["Department of Bioengineering, University of California at San Diego, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, University of California at San Diego, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051021846","display_name":"Mohamad Ramzi Abdul Majit","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamad Ramzi Abdul Majit","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027178114","display_name":"Francis Joseph","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francis Joseph","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T. Tolley","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California at San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4312","last_page":"4318"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9973000288009644,"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/bristle","display_name":"Bristle","score":0.8869429230690002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6217806935310364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5536375045776367},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.500464916229248},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.4595142900943756},{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.4461718499660492},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.43163520097732544},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.42171019315719604},{"id":"https://openalex.org/keywords/brush","display_name":"Brush","score":0.4023996889591217},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3502722680568695},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29074954986572266},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.20491111278533936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20114701986312866},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19419732689857483},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1253015100955963}],"concepts":[{"id":"https://openalex.org/C58115284","wikidata":"https://www.wikidata.org/wiki/Q894231","display_name":"Bristle","level":3,"score":0.8869429230690002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6217806935310364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5536375045776367},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.500464916229248},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4595142900943756},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.4461718499660492},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.43163520097732544},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.42171019315719604},{"id":"https://openalex.org/C16108499","wikidata":"https://www.wikidata.org/wiki/Q1713927","display_name":"Brush","level":2,"score":0.4023996889591217},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3502722680568695},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29074954986572266},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.20491111278533936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20114701986312866},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19419732689857483},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1253015100955963},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1496338223","https://openalex.org/W1575369764","https://openalex.org/W1575924372","https://openalex.org/W1971964491","https://openalex.org/W1982636603","https://openalex.org/W1996968614","https://openalex.org/W2012062612","https://openalex.org/W2012299141","https://openalex.org/W2014247633","https://openalex.org/W2054026561","https://openalex.org/W2086363266","https://openalex.org/W2094868720","https://openalex.org/W2098998403","https://openalex.org/W2127694416","https://openalex.org/W2140316998","https://openalex.org/W2149341969","https://openalex.org/W2168069209","https://openalex.org/W2216112945","https://openalex.org/W2413323843","https://openalex.org/W2464937933","https://openalex.org/W2563354324","https://openalex.org/W3102850810","https://openalex.org/W3151952590","https://openalex.org/W6688696232"],"related_works":["https://openalex.org/W1486663750","https://openalex.org/W3091503703","https://openalex.org/W2980394645","https://openalex.org/W2030171820","https://openalex.org/W1970835089","https://openalex.org/W2745821919","https://openalex.org/W3174631442","https://openalex.org/W147413268","https://openalex.org/W2046189482","https://openalex.org/W2007660393"],"abstract_inverted_index":{"Large":[0],"robotic":[1,41,52,62],"collectives":[2],"provide":[3],"advantages":[4],"such":[5],"as":[6],"resilience":[7],"to":[8,35,49,58,82,93,131,159,185],"mechanical":[9],"failure":[10],"of":[11,26,38,71,74,97,125,154,157,165],"single":[12],"agents":[13],"and":[14,19,28,69,142,162],"increased":[15],"capabilities":[16],"for":[17,100,113],"search":[18],"coverage":[20],"based":[21],"applications.":[22],"However,":[23,106],"a":[24,33,60,83,104,132,175,181,187],"lack":[25],"rapid":[27],"free-form":[29],"manufacturing":[30],"processes":[31],"remains":[32],"barrier":[34],"high-volume":[36],"fabrication":[37],"mechanically":[39],"heterogeneous":[40,51],"swarms.":[42,53],"Self-folding":[43],"laser-machined":[44],"structures":[45,90],"have":[46,110],"the":[47,67,72,95,123],"potential":[48],"enable":[50],"As":[54],"an":[55,75,147],"initial":[56],"step":[57],"realizing":[59],"functional":[61],"collective,":[63],"we":[64,172],"focus":[65],"on":[66],"design":[68],"characterization":[70],"locomotion":[73,85,102,119],"individual":[76],"laminate":[77,184],"manufactured":[78],"robot.":[79],"We":[80,121,145],"look":[81],"vibration-based":[84],"technique":[86],"that":[87,136,139,179],"uses":[88,180],"flexible":[89],"or":[91],"bristles":[92],"enhance":[94],"effects":[96],"vibration,":[98],"allowing":[99],"fast":[101],"(i.e.":[103],"\u201cbristle-bot\u201d).":[105],"previous":[107],"bristle-bot":[108,129,150,177],"implementations":[109],"not":[111],"allowed":[112],"controllable":[114],"steering":[115],"behaviors":[116],"with":[117],"high":[118],"speeds.":[120],"describe":[122],"extension":[124],"existing":[126],"two":[127],"dimensional":[128,134],"models":[130],"three":[133],"model":[135],"explores":[137],"parameters":[138],"govern":[140],"linear":[141,155,182],"angular":[143],"velocity.":[144],"implement":[146],"autonomous":[148],"laminate-manufactured":[149],"inspired":[151],"robot":[152],"capable":[153],"velocities":[156],"up":[158],"23":[160],"cm/s":[161],"turning":[163],"rates":[164],"2":[166],"rad/s.":[167],"Moving":[168],"towards":[169],"automated":[170],"manufacturing,":[171],"also":[173],"demonstrate":[174],"self-folding":[176],"structure":[178],"compression":[183],"achieve":[186],"uniform":[188],"leg":[189],"fold":[190],"angle.":[191]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
