{"id":"https://openalex.org/W3129862272","doi":"https://doi.org/10.1109/lra.2021.3061342","title":"Increasing the Payload and Terrain Adaptivity of an Untethered Crawling Robot Via Soft-Rigid Coupled Linear Actuators","display_name":"Increasing the Payload and Terrain Adaptivity of an Untethered Crawling Robot Via Soft-Rigid Coupled Linear Actuators","publication_year":2021,"publication_date":"2021-02-23","ids":{"openalex":"https://openalex.org/W3129862272","doi":"https://doi.org/10.1109/lra.2021.3061342","mag":"3129862272"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061342","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5059446722","display_name":"Xuguang Dong","orcid":"https://orcid.org/0000-0002-2966-2783"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuguang Dong","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044627655","display_name":"Chao Tang","orcid":"https://orcid.org/0000-0002-0627-0728"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Tang","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065103434","display_name":"Songwen Jiang","orcid":"https://orcid.org/0000-0002-6179-0654"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songwen Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101992910","display_name":"Qi Shao","orcid":"https://orcid.org/0000-0002-8423-3623"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Shao","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057344646","display_name":"Huichan Zhao","orcid":"https://orcid.org/0000-0003-2640-9528"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huichan Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, State Key Laboratory of Tribology, and Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059446722"],"corresponding_institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":2.089,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.86215313,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2405","last_page":"2412"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9966999888420105,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9965999722480774,"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/crawling","display_name":"Crawling","score":0.9140183925628662},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7873860001564026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6880493760108948},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6290320754051208},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6039361357688904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46205440163612366},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4422876238822937},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.43439826369285583},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42669621109962463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4116951525211334},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3867892324924469},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3585421144962311},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.349865198135376},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34205561876296997},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19266673922538757},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1480090618133545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14714956283569336}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9140183925628662},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7873860001564026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6880493760108948},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6290320754051208},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6039361357688904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46205440163612366},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4422876238822937},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.43439826369285583},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42669621109962463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4116951525211334},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3867892324924469},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3585421144962311},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.349865198135376},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34205561876296997},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19266673922538757},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1480090618133545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14714956283569336},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3061342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061342","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G2267606065","display_name":null,"funder_award_id":"MSV201904","funder_id":"https://openalex.org/F4320327024","funder_display_name":"State Key Laboratory of Mechanical System and Vibration"},{"id":"https://openalex.org/G2732936678","display_name":null,"funder_award_id":"2019YFC1520101","funder_id":"https://openalex.org/F4320322108","funder_display_name":"Ministry of Science and Technology"},{"id":"https://openalex.org/G5013537235","display_name":null,"funder_award_id":"51975306","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7389251582","display_name":null,"funder_award_id":"92048302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322108","display_name":"Ministry of Science and Technology","ror":"https://ror.org/032e49973"},{"id":"https://openalex.org/F4320327024","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1608215728","https://openalex.org/W1848396696","https://openalex.org/W1966636560","https://openalex.org/W2025613329","https://openalex.org/W2054912718","https://openalex.org/W2090648204","https://openalex.org/W2098179188","https://openalex.org/W2141905643","https://openalex.org/W2158120837","https://openalex.org/W2160946423","https://openalex.org/W2163566443","https://openalex.org/W2277748054","https://openalex.org/W2618733545","https://openalex.org/W2752165401","https://openalex.org/W2790084889","https://openalex.org/W2808757576","https://openalex.org/W2892096679","https://openalex.org/W2896222509","https://openalex.org/W2905335417","https://openalex.org/W2911887105","https://openalex.org/W2921339107","https://openalex.org/W2943279746","https://openalex.org/W2947177660","https://openalex.org/W2954160428","https://openalex.org/W2962988122","https://openalex.org/W2985440010","https://openalex.org/W3016397304","https://openalex.org/W3021947263","https://openalex.org/W3023786610","https://openalex.org/W3025416399","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2171573941","https://openalex.org/W4360873893","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"Fluidic":[0],"Elastomer":[1],"Actuators":[2],"(FEAs)":[3],"provide":[4],"new":[5,71],"opportunities":[6],"for":[7,15,161],"developing":[8],"agile,":[9],"adaptive,":[10],"and":[11,52,85,90,101,154,168,177],"strong":[12],"mobile":[13,172],"robots":[14],"field":[16],"explorations.":[17],"In":[18],"this":[19,70],"letter,":[20],"we":[21,73,134],"propose":[22],"a":[23,29,59,112,144,158],"soft-rigid":[24],"coupled":[25],"linear":[26],"FEA":[27],"with":[28,79,111,127,129,143,164,174],"bio-comparable":[30],"energy":[31,49,166],"density":[32,50,55,167],"of":[33,82,114,119,147,151],"10.9":[34],"J/kg":[35],"at":[36],"50":[37],"kPa.":[38],"This":[39],"actuator":[40],"achieves":[41],"an":[42,75],"increased":[43,48,53,125],"blocked":[44],"force":[45],"output":[46],"(318%),":[47],"(183%),":[51],"power":[54],"(358%)":[56],"by":[57,181],"incorporating":[58],"rigid":[60,155],"carbon-fiber":[61],"telescopic":[62],"shaft":[63],"within":[64],"its":[65,120],"elastomeric":[66],"skin.":[67],"Based":[68],"on":[69],"FEA,":[72],"develop":[74],"untethered":[76,171],"crawling":[77,98,109],"robot":[78,128,138,173],"enhanced":[80],"capability":[81],"forward":[83],"locomotion":[84,176],"vertical":[86],"load-bearing.":[87],"We":[88],"analyze":[89],"demonstrate":[91,105],"how":[92],"the":[93,97,107,137],"proposed":[94],"actuators":[95],"increase":[96],"robot's":[99,108],"payload":[100,113,178],"terrain":[102],"adaptivity.":[103],"Experiments":[104],"that":[106],"speed":[110],"6":[115],"kg":[116],"(8.8":[117],"times":[118],"own":[121],"weight)":[122],"is":[123],"effectively":[124],"compared":[126],"purely":[130],"soft":[131,153],"actuators.":[132],"Furthermore,":[133],"have":[135],"demonstrated":[136],"can":[139],"adapt":[140],"to":[141],"terrains":[142],"wide":[145],"range":[146],"roughnesses.":[148],"Our":[149],"design":[150],"coupling":[152],"components":[156],"provides":[157],"feasible":[159],"strategy":[160],"building":[162],"FEAs":[163],"higher":[165],"constructing":[169],"FEA-based,":[170],"better":[175],"performance":[179],"driven":[180],"low-power":[182],"pumps.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
