{"id":"https://openalex.org/W4416750430","doi":"https://doi.org/10.1109/iros60139.2025.11247235","title":"Adaptive Morphing and Environmental-Phase-Transition Enables Effective Locomotion inside Granular Media","display_name":"Adaptive Morphing and Environmental-Phase-Transition Enables Effective Locomotion inside Granular Media","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750430","doi":"https://doi.org/10.1109/iros60139.2025.11247235"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247235","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5076260689","display_name":"Yufei Wang","orcid":"https://orcid.org/0009-0005-6900-7264"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiliang Wang","raw_affiliation_strings":["Tiangong University,School of Mechanical Engineering,Tianjin,China,300382"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Mechanical Engineering,Tianjin,China,300382","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008342125","display_name":"Xuan Xiao","orcid":"https://orcid.org/0000-0003-3230-0086"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuan Xiao","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China,300382"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China,300382","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090486190","display_name":"Shuqian He","orcid":"https://orcid.org/0009-0006-9830-6535"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuqian He","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yanxiang Han","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanxiang Han","raw_affiliation_strings":["Tiangong University,School of Mechanical Engineering,Tianjin,China,300382"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Mechanical Engineering,Tianjin,China,300382","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041185116","display_name":"Shuai Kang","orcid":"https://orcid.org/0000-0002-4346-0889"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Kang","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Mechanical and Electrical Engineering,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Mechanical and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,School of Information Science,Nomi,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,School of Information Science,Nomi,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038629773","display_name":"Isao T. Tokuda","orcid":"https://orcid.org/0000-0001-6212-0022"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Isao T. Tokuda","raw_affiliation_strings":["Ritsumeikan University,Graduate School of Science and Engineering,Shiga,Japan,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Graduate School of Science and Engineering,Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103096540","display_name":"Longchuan Li","orcid":"https://orcid.org/0000-0001-8242-8243"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longchuan Li","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4905,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.693341,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10262","last_page":"10267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.367000013589859,"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":0.367000013589859,"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/T10615","display_name":"Granular flow and fluidized beds","score":0.2720000147819519,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.07530000060796738,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6211000084877014},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.6047000288963318},{"id":"https://openalex.org/keywords/fluidization","display_name":"Fluidization","score":0.5411999821662903},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5045999884605408},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4839000105857849},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4779999852180481},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.45809999108314514},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.43689998984336853},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4316999912261963}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6211000084877014},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.6047000288963318},{"id":"https://openalex.org/C194832619","wikidata":"https://www.wikidata.org/wiki/Q1002145","display_name":"Fluidization","level":3,"score":0.5411999821662903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5327000021934509},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5045999884605408},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4839000105857849},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.45809999108314514},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.43689998984336853},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4316999912261963},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.3953999876976013},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37700000405311584},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3765999972820282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33820000290870667},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.30790001153945923},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2996000051498413},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.2888000011444092},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.28380000591278076},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2825999855995178},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2669000029563904},{"id":"https://openalex.org/C32568104","wikidata":"https://www.wikidata.org/wiki/Q1155083","display_name":"Granular material","level":2,"score":0.25839999318122864}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247235","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1977425900","https://openalex.org/W1984946273","https://openalex.org/W2010717511","https://openalex.org/W2061985157","https://openalex.org/W2112310950","https://openalex.org/W2144846186","https://openalex.org/W2169384358","https://openalex.org/W2935825179","https://openalex.org/W2947527046","https://openalex.org/W2950375793","https://openalex.org/W3025528286","https://openalex.org/W3136025710","https://openalex.org/W3154646763","https://openalex.org/W3169610371","https://openalex.org/W4225107292","https://openalex.org/W4243430349","https://openalex.org/W4318338134","https://openalex.org/W4318464194","https://openalex.org/W4381273674","https://openalex.org/W4391023045","https://openalex.org/W4393204585","https://openalex.org/W4400013196","https://openalex.org/W4404542493","https://openalex.org/W4406259396","https://openalex.org/W4407596472"],"related_works":[],"abstract_inverted_index":{"This":[0,97],"study":[1],"introduces":[2],"a":[3,43,110,118],"novel":[4],"burrowing":[5],"robot":[6,93],"that":[7,63],"achieves":[8],"effective":[9],"locomotion":[10,75,104],"inside":[11],"granular":[12,45,95],"media":[13],"through":[14],"the":[15,64,88,92],"synergistic":[16],"integration":[17],"of":[18,66,102,127],"high-frequency":[19,71],"vibration-induced":[20],"environmental-phase-transition":[21],"(EPT)":[22],"and":[23,51,70,94],"adaptive":[24,54,68],"morphing.":[25],"The":[26],"robotic":[27,124],"system":[28,47],"employs":[29],"three":[30],"key":[31],"innovations:":[32],"1)":[33],"an":[34],"asymmetric":[35],"arm":[36],"trajectory":[37],"mechanism":[38],"generating":[39],"directional":[40],"propulsion,":[41],"2)":[42],"vibration-mediated":[44],"fluidization":[46],"reducing":[48],"environmental":[49,107],"resistance,":[50],"3)":[52],"passively":[53],"claws":[55,69],"demonstrating":[56,106],"phase-dependent":[57],"configuration":[58],"changes.":[59],"Experimental":[60],"results":[61],"demonstrate":[62],"synchronization":[65],"morphologically":[67],"vibration":[72],"significantly":[73],"improves":[74],"performance.":[76],"Additionally,":[77],"numerical":[78],"simulations":[79],"based":[80],"on":[81],"Adams-EDEM":[82],"coupling":[83],"provide":[84],"deeper":[85],"insights":[86],"into":[87],"interaction":[89],"mechanisms":[90],"between":[91],"media.":[96],"work":[98],"advances":[99],"fundamental":[100],"understanding":[101],"terradynamic":[103],"by":[105],"modification":[108],"as":[109],"viable":[111],"strategy":[112],"for":[113,121],"resistance":[114],"reduction,":[115],"while":[116],"providing":[117],"bio-inspired":[119],"framework":[120],"developing":[122],"versatile":[123],"systems":[125],"capable":[126],"navigating":[128],"complex":[129],"particulate":[130],"environments.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}