{"id":"https://openalex.org/W4389666453","doi":"https://doi.org/10.1109/iros55552.2023.10341630","title":"A Fabrication and Simulation Recipe for Untethering Soft-Rigid Robots with Cable-Driven Stiffness Modulation","display_name":"A Fabrication and Simulation Recipe for Untethering Soft-Rigid Robots with Cable-Driven Stiffness Modulation","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666453","doi":"https://doi.org/10.1109/iros55552.2023.10341630"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341630","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5085755421","display_name":"James M. Bern","orcid":"https://orcid.org/0000-0002-1133-743X"},"institutions":[{"id":"https://openalex.org/I22675022","display_name":"Williams College","ror":"https://ror.org/04avkmd49","country_code":"US","type":"education","lineage":["https://openalex.org/I22675022"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James M. Bern","raw_affiliation_strings":["Computer Science Williams College","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Williams College","institution_ids":["https://openalex.org/I22675022"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069238076","display_name":"Zach J. Patterson","orcid":"https://orcid.org/0000-0003-4371-7442"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zach J. Patterson","raw_affiliation_strings":["MIT,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT,Computer Science and Artificial Intelligence Laboratory","institution_ids":[]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023158602","display_name":"Leonardo Zamora Ya\u00f1ez","orcid":"https://orcid.org/0000-0002-6611-900X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leonardo Zamora Ya\u00f1ez","raw_affiliation_strings":["MIT,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT,Computer Science and Artificial Intelligence Laboratory","institution_ids":[]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004616093","display_name":"Kristoff K. Misquitta","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kristoff K. Misquitta","raw_affiliation_strings":["MIT,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT,Computer Science and Artificial Intelligence Laboratory","institution_ids":[]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["MIT,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT,Computer Science and Artificial Intelligence Laboratory","institution_ids":[]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1656369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"8337","last_page":"8342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.994700014591217,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/stiffness","display_name":"Stiffness","score":0.718767523765564},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7124156951904297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7097088694572449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6006708741188049},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5764527916908264},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5737754106521606},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.47678542137145996},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4150720238685608},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.335201233625412},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27821850776672363},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.21034973859786987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20077210664749146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10760822892189026}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.718767523765564},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7124156951904297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7097088694572449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6006708741188049},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5764527916908264},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5737754106521606},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.47678542137145996},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4150720238685608},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.335201233625412},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27821850776672363},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.21034973859786987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20077210664749146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10760822892189026},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341630","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4699999988079071,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1608215728","https://openalex.org/W1966685830","https://openalex.org/W1978711911","https://openalex.org/W1988104039","https://openalex.org/W1992923590","https://openalex.org/W2039286876","https://openalex.org/W2040316861","https://openalex.org/W2055471201","https://openalex.org/W2066880342","https://openalex.org/W2067243719","https://openalex.org/W2070294777","https://openalex.org/W2081994289","https://openalex.org/W2084333417","https://openalex.org/W2101850483","https://openalex.org/W2110162714","https://openalex.org/W2146031911","https://openalex.org/W2332722111","https://openalex.org/W2403249444","https://openalex.org/W2430851345","https://openalex.org/W2495535193","https://openalex.org/W2518216050","https://openalex.org/W2785767758","https://openalex.org/W2790084889","https://openalex.org/W2794141247","https://openalex.org/W2810473562","https://openalex.org/W2904532819","https://openalex.org/W2908658035","https://openalex.org/W2912500577","https://openalex.org/W2988986133","https://openalex.org/W3025416399","https://openalex.org/W3048889784","https://openalex.org/W3111036211","https://openalex.org/W3134100872","https://openalex.org/W3134259965","https://openalex.org/W3138646158","https://openalex.org/W3159638564","https://openalex.org/W3168686957","https://openalex.org/W3189852382","https://openalex.org/W3204911808","https://openalex.org/W4225149305","https://openalex.org/W4241335442","https://openalex.org/W4244873823","https://openalex.org/W4286611172","https://openalex.org/W4297023618","https://openalex.org/W4304698290","https://openalex.org/W4381273674","https://openalex.org/W6635466564","https://openalex.org/W6786884147","https://openalex.org/W6802073278"],"related_works":["https://openalex.org/W2326585759","https://openalex.org/W3134474396","https://openalex.org/W4211124276","https://openalex.org/W1515749184","https://openalex.org/W2526555730","https://openalex.org/W4367041227","https://openalex.org/W2806506062","https://openalex.org/W4285221039","https://openalex.org/W4312473168","https://openalex.org/W4312269480"],"abstract_inverted_index":{"We":[0,39,89],"explore":[1],"the":[2,16,24,32,79],"idea":[3],"of":[4,19,28,36,107],"robotic":[5,103],"mechanisms":[6],"that":[7,22,68],"can":[8,69],"shift":[9],"between":[10],"soft":[11,29],"and":[12,26,34,49,55,86,94],"rigid":[13,37,84],"states,":[14],"with":[15,31],"long-term":[17],"goal":[18],"creating":[20],"robots":[21,30],"marry":[23],"flexibility":[25],"robustness":[27],"strength":[33],"precision":[35],"robots.":[38],"present":[40],"a":[41,57,64],"simple":[42],"yet":[43],"effective":[44],"method":[45],"to":[46,97],"achieve":[47],"large":[48],"rapid":[50],"stiffness":[51,81,92],"variations":[52],"by":[53],"compressing":[54],"relaxing":[56],"flexure":[58],"using":[59],"cables.":[60],"Next,":[61],"we":[62],"provide":[63],"differentiable":[65],"modeling":[66],"framework":[67],"be":[70],"used":[71],"for":[72],"motion":[73],"planning,":[74],"which":[75],"simultaneously":[76],"reasons":[77],"about":[78],"modulated":[80],"joints,":[82,85],"tendons,":[83],"basic":[87],"hydrodynamics.":[88],"apply":[90],"this":[91],"tuning":[93],"simulation":[95],"recipe":[96],"create":[98],"SoRiTu,":[99],"an":[100],"untethered":[101],"soft-rigid":[102],"sea":[104],"turtle":[105],"capable":[106],"various":[108],"swimming":[109],"maneuvers.":[110]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}