{"id":"https://openalex.org/W3046913575","doi":"https://doi.org/10.1109/iros45743.2020.9341008","title":"An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion","display_name":"An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3046913575","doi":"https://doi.org/10.1109/iros45743.2020.9341008","mag":"3046913575"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.13529","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069238076","display_name":"Zach J. Patterson","orcid":"https://orcid.org/0000-0003-4371-7442"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zach J. Patterson","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,Department of Mechanical Engineering',Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering',Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042202916","display_name":"Andrew P. Sabelhaus","orcid":"https://orcid.org/0000-0001-5019-2846"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew P. Sabelhaus","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,Department of Mechanical Engineering',Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering',Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108774755","display_name":"Keene Chin","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keene Chin","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,The Robotics Institute,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001930800","display_name":"Tess Hellebrekers","orcid":"https://orcid.org/0000-0002-1801-8300"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tess Hellebrekers","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,The Robotics Institute,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050506400","display_name":"Carmel Majidi","orcid":"https://orcid.org/0000-0002-6469-9645"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carmel Majidi","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,Department of Mechanical Engineering',Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering',Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10289438,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8758","last_page":"8764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9995999932289124,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9961000084877014,"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/crawling","display_name":"Crawling","score":0.782040536403656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6774073243141174},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5837095379829407},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5388967394828796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5104331374168396},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4981861114501953},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49413660168647766},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.48220980167388916},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4537641108036041},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42722612619400024},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4099723994731903},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40249142050743103},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3804226517677307},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11889562010765076},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11506745219230652}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.782040536403656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6774073243141174},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5837095379829407},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5388967394828796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5104331374168396},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4981861114501953},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49413660168647766},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.48220980167388916},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4537641108036041},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42722612619400024},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4099723994731903},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40249142050743103},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3804226517677307},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11889562010765076},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11506745219230652},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.13529","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.13529","pdf_url":"https://arxiv.org/pdf/2003.13529","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},{"id":"mag:3046913575","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2003.13529.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.13529","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.13529","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.13529","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.13529","pdf_url":"https://arxiv.org/pdf/2003.13529","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":[{"display_name":"Industry, innovation and infrastructure","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W6448330","https://openalex.org/W1484218370","https://openalex.org/W1485346879","https://openalex.org/W1514946319","https://openalex.org/W1515749184","https://openalex.org/W1597818456","https://openalex.org/W1608215728","https://openalex.org/W2010745100","https://openalex.org/W2027192530","https://openalex.org/W2083142789","https://openalex.org/W2088261946","https://openalex.org/W2105331553","https://openalex.org/W2141124675","https://openalex.org/W2141905643","https://openalex.org/W2153070244","https://openalex.org/W2154139861","https://openalex.org/W2156218502","https://openalex.org/W2420271973","https://openalex.org/W2523409721","https://openalex.org/W2605221221","https://openalex.org/W2621263557","https://openalex.org/W2790084889","https://openalex.org/W2793128170","https://openalex.org/W2800392488","https://openalex.org/W2893266862","https://openalex.org/W2893780659","https://openalex.org/W2903854300","https://openalex.org/W2904532819","https://openalex.org/W2946367378","https://openalex.org/W2946726776","https://openalex.org/W2953081104","https://openalex.org/W2954160428","https://openalex.org/W2966651785","https://openalex.org/W3022163685","https://openalex.org/W4244367163","https://openalex.org/W4251181231","https://openalex.org/W4378377529","https://openalex.org/W6628900150"],"related_works":["https://openalex.org/W3013564887","https://openalex.org/W3131488523","https://openalex.org/W3095238667","https://openalex.org/W3201351458","https://openalex.org/W2890919896","https://openalex.org/W2998901272","https://openalex.org/W3169471485","https://openalex.org/W3174249452","https://openalex.org/W2738259110","https://openalex.org/W3204446705","https://openalex.org/W2797244074","https://openalex.org/W2285211887","https://openalex.org/W2766317457","https://openalex.org/W2521248114","https://openalex.org/W3090164617","https://openalex.org/W2287964612","https://openalex.org/W3012309598","https://openalex.org/W2188053476","https://openalex.org/W2074207981","https://openalex.org/W3186717013"],"abstract_inverted_index":{"Soft":[0],"robots":[1,13],"are":[2],"capable":[3],"of":[4,78,88,107,134,139,152],"inherently":[5],"safer":[6],"interactions":[7],"with":[8,35,55,70],"their":[9,25],"environment":[10],"than":[11],"rigid":[12],"since":[14],"they":[15],"can":[16,28,118],"mechanically":[17],"deform":[18],"in":[19],"response":[20],"to":[21,122,124],"unanticipated":[22],"stimuli.":[23],"However,":[24],"complex":[26],"mechanics":[27],"make":[29,147],"planning":[30,100],"and":[31,47,111,146],"control":[32],"difficult,":[33],"particularly":[34],"tasks":[36],"such":[37],"as":[38],"locomotion.":[39],"In":[40],"this":[41],"work,":[42],"we":[43],"present":[44],"a":[45,56,76,85,98,104,125],"mobile":[46,154],"untethered":[48],"underwater":[49],"crawling":[50,144],"soft":[51,143,153],"robot,":[52,145],"PATRICK,":[53],"paired":[54],"testbed":[57],"that":[58,115],"demonstrates":[59],"closed-loop":[60],"locomotion":[61],"planning.":[62],"PATRICK":[63],"is":[64],"inspired":[65],"by":[66,75],"the":[67,116,120,131],"brittle":[68],"star,":[69],"five":[71],"flexible":[72],"legs":[73],"actuated":[74],"total":[77],"20":[79],"shape-memory":[80],"alloy":[81],"(SMA)":[82],"wires,":[83],"providing":[84],"rich":[86],"variety":[87],"possible":[89],"motions":[90],"via":[91],"its":[92],"large":[93],"input":[94],"space.":[95],"We":[96],"propose":[97],"motion":[99,109],"infrastructure":[101],"based":[102],"on":[103],"simple":[105],"set":[106],"PATRICK's":[108],"primitives,":[110],"provide":[112],"experiments":[113,129],"showing":[114],"planner":[117],"command":[119],"robot":[121],"locomote":[123],"goal":[126,137],"state.":[127],"These":[128],"contribute":[130],"first":[132],"examples":[133],"closed-loop,":[135],"state-space":[136],"seeking":[138],"an":[140],"underwater,":[141],"untethered,":[142],"progress":[148],"towards":[149],"full":[150],"autonomy":[151],"robotic":[155],"systems.":[156]},"counts_by_year":[],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
