{"id":"https://openalex.org/W3012413578","doi":"https://doi.org/10.1109/lra.2020.2982361","title":"Granular Jamming Feet Enable Improved Foot-Ground Interactions for Robot Mobility on Deformable Ground","display_name":"Granular Jamming Feet Enable Improved Foot-Ground Interactions for Robot Mobility on Deformable Ground","publication_year":2020,"publication_date":"2020-03-20","ids":{"openalex":"https://openalex.org/W3012413578","doi":"https://doi.org/10.1109/lra.2020.2982361","mag":"3012413578"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2982361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2982361","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5024964162","display_name":"Shivam Chopra","orcid":"https://orcid.org/0000-0002-2479-7267"},"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":"Shivam Chopra","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, USA"],"raw_orcid":"https://orcid.org/0000-0002-2479-7267","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","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 San Diego, San Diego, USA"],"raw_orcid":"https://orcid.org/0000-0001-7821-7777","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034529120","display_name":"Nick Gravish","orcid":"https://orcid.org/0000-0002-9391-2476"},"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":"Nick Gravish","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, USA"],"raw_orcid":"https://orcid.org/0000-0002-9391-2476","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":1.8413,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.84303977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"3","first_page":"3975","last_page":"3981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.989300012588501,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9757000207901001,"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/jamming","display_name":"Jamming","score":0.644227921962738},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5704699158668518},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.48544126749038696},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4797983467578888},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4434022307395935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43331441283226013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34757518768310547},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3265719413757324},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3227536082267761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30747315287590027},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17765814065933228},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16397124528884888},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11806190013885498}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.644227921962738},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5704699158668518},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.48544126749038696},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4797983467578888},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4434022307395935},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43331441283226013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34757518768310547},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3265719413757324},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3227536082267761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30747315287590027},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17765814065933228},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16397124528884888},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11806190013885498},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2982361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2982361","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1822001265","https://openalex.org/W1974461875","https://openalex.org/W1979445726","https://openalex.org/W1992878443","https://openalex.org/W2000384294","https://openalex.org/W2002516094","https://openalex.org/W2007924815","https://openalex.org/W2020795076","https://openalex.org/W2034997991","https://openalex.org/W2035155402","https://openalex.org/W2040669665","https://openalex.org/W2076135051","https://openalex.org/W2078968880","https://openalex.org/W2079830044","https://openalex.org/W2089714604","https://openalex.org/W2097914940","https://openalex.org/W2104983615","https://openalex.org/W2109706829","https://openalex.org/W2140715943","https://openalex.org/W2153571005","https://openalex.org/W2163635681","https://openalex.org/W2212667385","https://openalex.org/W2281572373","https://openalex.org/W2480593599","https://openalex.org/W2480989714","https://openalex.org/W2568550321","https://openalex.org/W2884985611","https://openalex.org/W2890621394","https://openalex.org/W2986622186","https://openalex.org/W3103367635","https://openalex.org/W6660373535","https://openalex.org/W6669217710"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2020711795","https://openalex.org/W4317383772","https://openalex.org/W2804303429","https://openalex.org/W2365599414","https://openalex.org/W1679164670","https://openalex.org/W4221151082","https://openalex.org/W2363812971","https://openalex.org/W2378609167","https://openalex.org/W2960514006"],"abstract_inverted_index":{"Recent":[0],"studies":[1],"on":[2,8,64,190],"dynamic":[3],"legged":[4],"locomotion":[5],"have":[6,125,152],"focused":[7],"incorporating":[9],"passive":[10,75],"compliant":[11],"elements":[12],"into":[13],"robot":[14],"legs":[15],"which":[16],"can":[17,91],"help":[18],"with":[19,82],"energy":[20],"efficiency":[21],"and":[22,40,59,90,113,122,134,160,203],"stability,":[23],"enabling":[24],"them":[25],"to":[26,61,87,99,106,137,168,209],"work":[27],"in":[28,80,116,187],"wide":[29],"range":[30],"of":[31,42,48,110,142,148,157,185],"environments.":[32],"In":[33],"this":[34],"work,":[35],"we":[36],"present":[37],"the":[38,83,97,108,127,135,139,143,149,155,163,178,188,201],"design":[39,166],"testing":[41],"a":[43,172,197,210],"soft":[44],"robotic":[45],"foot":[46,56,76,140,158,165,175],"capable":[47],"active":[49],"stiffness":[50,95,114,159],"control":[51,156],"using":[52,162],"granular":[53],"jamming.":[54],"This":[55],"is":[57],"designed":[58],"tested":[60],"be":[62],"used":[63],"soft,":[65],"flowable":[66],"ground":[67,84],"such":[68],"as":[69],"sand.":[70],"Granular":[71],"jamming":[72],"feet":[73],"enable":[74],"shape":[77,111,161],"change":[78,94,112,115],"when":[79],"contact":[81],"for":[85,96,145,196],"adaptability":[86],"uneven":[88],"surfaces,":[89],"also":[92],"actively":[93],"ability":[98],"apply":[100],"sufficient":[101],"propulsion":[102],"forces.":[103],"We":[104,124,151],"seek":[105],"study":[107],"role":[109],"foot-ground":[117],"interactions":[118],"during":[119,129],"foot-fall":[120],"impact":[121],"shear.":[123],"measured":[126],"acceleration":[128],"impact,":[130,181,191],"surface":[131],"traction":[132],"force,":[133],"force":[136,194,207],"pull":[138],"out":[141],"medium":[144],"different":[146],"states":[147],"foot.":[150,212],"demonstrated":[153],"that":[154],"proposed":[164],"leads":[167],"improved":[169],"locomotion,":[170],"specifically":[171],"52%":[173],"reduced":[174,183,205],"deceleration":[176],"at":[177],"joints":[179],"after":[180],"63%":[182],"depth":[184,199],"penetration":[186],"sand":[189],"higher":[192],"shear":[193],"capabilities":[195],"constant":[198],"above":[200],"ground,":[202],"98%":[204],"pullout":[206],"compared":[208],"rigid":[211]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
