{"id":"https://openalex.org/W4405785199","doi":"https://doi.org/10.1109/iros58592.2024.10802506","title":"Exploring Modal Switch in Metamaterial-Based Robots","display_name":"Exploring Modal Switch in Metamaterial-Based Robots","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785199","doi":"https://doi.org/10.1109/iros58592.2024.10802506"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5115648088","display_name":"Britton Jordan","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Britton Jordan","raw_affiliation_strings":["University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112"],"affiliations":[{"raw_affiliation_string":"University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007324768","display_name":"Daniel S. Esser","orcid":"https://orcid.org/0009-0003-6592-2372"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel S. Esser","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37203"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37203","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008324095","display_name":"J. H. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeonghyeon Kim","raw_affiliation_strings":["University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112"],"affiliations":[{"raw_affiliation_string":"University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040461566","display_name":"Brian Y. Cho","orcid":"https://orcid.org/0009-0008-4144-3074"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Y. Cho","raw_affiliation_strings":["University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112"],"affiliations":[{"raw_affiliation_string":"University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37203"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University,Department of Mechanical Engineering,Nashville,TN,37203","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112"],"affiliations":[{"raw_affiliation_string":"University of Utah,Robotics Center and the Kahlert School of Computing,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5115648088"],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25411136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8711","last_page":"8716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962999820709229,"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":0.9962999820709229,"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/metamaterial","display_name":"Metamaterial","score":0.8506603837013245},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6679360866546631},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6072542667388916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5697484016418457},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2783602476119995},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.2649392783641815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1596755087375641},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.06672611832618713}],"concepts":[{"id":"https://openalex.org/C110367647","wikidata":"https://www.wikidata.org/wiki/Q497166","display_name":"Metamaterial","level":2,"score":0.8506603837013245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6679360866546631},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6072542667388916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5697484016418457},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2783602476119995},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.2649392783641815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1596755087375641},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.06672611832618713}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1882735753","https://openalex.org/W1994311413","https://openalex.org/W1999303985","https://openalex.org/W2099006292","https://openalex.org/W2184993170","https://openalex.org/W2416618703","https://openalex.org/W2763080578","https://openalex.org/W2887981936","https://openalex.org/W2909924726","https://openalex.org/W2937368875","https://openalex.org/W3003402967","https://openalex.org/W4220786464","https://openalex.org/W4285035863","https://openalex.org/W4285204042","https://openalex.org/W4285728167","https://openalex.org/W4293461993","https://openalex.org/W4304698290","https://openalex.org/W4311596471","https://openalex.org/W4317796345","https://openalex.org/W4319791130","https://openalex.org/W4379212407","https://openalex.org/W4383894383","https://openalex.org/W4387705768","https://openalex.org/W4388127209"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1570806970","https://openalex.org/W2174268617","https://openalex.org/W4390331329","https://openalex.org/W2951552468","https://openalex.org/W2045305845","https://openalex.org/W2545051477","https://openalex.org/W2166662560"],"abstract_inverted_index":{"Mechanical":[0],"metamaterials":[1],"are":[2,7,18,52,83,117,130],"microscale":[3],"patterned":[4],"structures":[5],"that":[6,17,35],"designed":[8],"to":[9,119,123],"have":[10],"specific":[11],"mechanical":[12,108],"properties":[13],"at":[14],"a":[15,85,89,111,157],"macro-scale":[16],"atypical":[19],"of":[20,26,44,49,110,148,151,156],"natural":[21],"materials.":[22],"Robotic":[23],"manipulators":[24,51],"composed":[25],"these":[27],"materials":[28],"can":[29,36,70],"exhibit":[30],"deformation":[31],"and":[32,39,58,88],"motion":[33,47],"capabilities":[34],"be":[37,60],"customized":[38],"easily":[40],"fabricated.":[41],"However,":[42],"as":[43,154],"now,":[45],"the":[46,73,101,134,146],"capability":[48],"such":[50,81],"encoded":[53],"in":[54,76,97,133],"their":[55,120,125],"physical":[56],"composition":[57],"cannot":[59],"changed.":[61],"This":[62],"paper":[63],"presents":[64],"multimodal":[65],"metamaterial-based":[66],"robot":[67,87,93],"prototypes":[68,139],"which":[69],"switch":[71],"between":[72,104],"behaviors":[74,129],"found":[75],"two":[77],"different":[78],"metamaterials.":[79],"Two":[80],"robots":[82,102,116,150],"explored,":[84],"bending/shearing":[86],"bending/twisting":[90],"robot.":[91],"The":[92,127,137],"design":[94,153],"is":[95],"described":[96],"detail,":[98],"including":[99],"how":[100],"toggle":[103],"behavior":[105],"modes":[106],"via":[107],"actuation":[109],"sliding":[112],"rod":[113],"insert.":[114],"Multi-modal":[115],"compared":[118],"single-mode":[121,128],"equivalents":[122],"characterize":[124],"capabilities.":[126],"largely":[131],"preserved":[132],"multi-modal":[135,138],"innovations.":[136],"also":[140],"demonstrate":[141],"variable":[142],"rigidity.":[143],"We":[144],"discuss":[145],"feasibility":[147],"using":[149],"this":[152],"part":[155],"robotic":[158],"surgical":[159],"system.":[160]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}