{"id":"https://openalex.org/W3120917364","doi":"https://doi.org/10.1109/lra.2021.3084877","title":"Compliant Fins for Locomotion in Granular Media","display_name":"Compliant Fins for Locomotion in Granular Media","publication_year":2021,"publication_date":"2021-06-28","ids":{"openalex":"https://openalex.org/W3120917364","doi":"https://doi.org/10.1109/lra.2021.3084877","mag":"3120917364"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3084877","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3084877","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.03624","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102761222","display_name":"Dongting Li","orcid":"https://orcid.org/0000-0001-5657-3121"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dongting Li","raw_affiliation_strings":["Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066486303","display_name":"Sichuan Huang","orcid":"https://orcid.org/0000-0002-0197-5980"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sichuan Huang","raw_affiliation_strings":["School of Sustainability and the Built Environment, Center for Bio-mediated and Bio-inspired Geotechnics, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School of Sustainability and the Built Environment, Center for Bio-mediated and Bio-inspired Geotechnics, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050733920","display_name":"Yong Tang","orcid":"https://orcid.org/0000-0002-2750-2225"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yong Tang","raw_affiliation_strings":["School of Sustainability and the Built Environment, Center for Bio-mediated and Bio-inspired Geotechnics, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School of Sustainability and the Built Environment, Center for Bio-mediated and Bio-inspired Geotechnics, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014121661","display_name":"Hamidreza Marvi","orcid":"https://orcid.org/0000-0001-5664-2449"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hamidreza Marvi","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Ira A. Fulton Schools of Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Ira A. Fulton Schools of Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033552251","display_name":"Junliang Tao","orcid":"https://orcid.org/0000-0002-3772-3099"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junliang Tao","raw_affiliation_strings":["School of Sustainability and the Built Environment, Center for Bio-mediated and Bio-inspired Geotechnics, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School of Sustainability and the Built Environment, Center for Bio-mediated and Bio-inspired Geotechnics, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054327640","display_name":"Daniel M. Aukes","orcid":"https://orcid.org/0000-0002-7746-2401"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel M. Aukes","raw_affiliation_strings":["Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102761222"],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":3.0569,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.91460592,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"5984","last_page":"5991"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"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/robot","display_name":"Robot","score":0.6904418468475342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5282439589500427},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5174410939216614},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4953864812850952},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4745098948478699},{"id":"https://openalex.org/keywords/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.4568319022655487},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.45394447445869446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3145843744277954},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29590505361557007},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.256913959980011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19949281215667725},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1262741982936859},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.11225923895835876},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10593834519386292}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6904418468475342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5282439589500427},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5174410939216614},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4953864812850952},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4745098948478699},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.4568319022655487},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.45394447445869446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3145843744277954},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29590505361557007},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.256913959980011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19949281215667725},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1262741982936859},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.11225923895835876},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10593834519386292},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3084877","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3084877","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"},{"id":"pmh:oai:arXiv.org:2101.03624","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.03624","pdf_url":"https://arxiv.org/pdf/2101.03624","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2101.03624","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.03624","pdf_url":"https://arxiv.org/pdf/2101.03624","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G6344371408","display_name":null,"funder_award_id":"CMMI-1841574","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1494495709","https://openalex.org/W1927459862","https://openalex.org/W1970644774","https://openalex.org/W1974461875","https://openalex.org/W1975491757","https://openalex.org/W1975674913","https://openalex.org/W1993676412","https://openalex.org/W2003790599","https://openalex.org/W2009752225","https://openalex.org/W2010717511","https://openalex.org/W2014247633","https://openalex.org/W2029645120","https://openalex.org/W2056370235","https://openalex.org/W2065713012","https://openalex.org/W2079830044","https://openalex.org/W2090123864","https://openalex.org/W2092973733","https://openalex.org/W2093937828","https://openalex.org/W2098055994","https://openalex.org/W2098484847","https://openalex.org/W2104820300","https://openalex.org/W2113076624","https://openalex.org/W2120605830","https://openalex.org/W2122468689","https://openalex.org/W2124745044","https://openalex.org/W2130297497","https://openalex.org/W2143197047","https://openalex.org/W2144846186","https://openalex.org/W2148901191","https://openalex.org/W2153896329","https://openalex.org/W2165920800","https://openalex.org/W2169384358","https://openalex.org/W2321685073","https://openalex.org/W2567562381","https://openalex.org/W2600638991","https://openalex.org/W2734322075","https://openalex.org/W2935825179","https://openalex.org/W2963263990","https://openalex.org/W2964090615","https://openalex.org/W2980132437","https://openalex.org/W3005750207","https://openalex.org/W3010525046","https://openalex.org/W3014306082","https://openalex.org/W3014459310","https://openalex.org/W3026989664","https://openalex.org/W3034938408","https://openalex.org/W3134100872","https://openalex.org/W3154646763","https://openalex.org/W6893603746"],"related_works":["https://openalex.org/W3097847178","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2940850594","https://openalex.org/W4361230927","https://openalex.org/W3029431726","https://openalex.org/W2634411759"],"abstract_inverted_index":{"In":[0],"this":[1,26,111],"letter,":[2],"we":[3,44,97,176],"present":[4],"an":[5,46,70],"approach":[6],"to":[7,68,110,115,161],"study":[8],"the":[9,19,53,117,146,149,163,166,172,186],"behavior":[10],"of":[11,21,120,135,148,165,171],"compliant":[12,121],"plates":[13,122,167],"in":[14,52,59,81],"granular":[15,42,60,99,150],"media":[16],"and":[17,33,94,127,168,178],"optimize":[18,169],"performance":[20],"a":[22,105,156,182],"robot":[23,180],"that":[24,55,74],"utilizes":[25,64],"technique":[27],"for":[28],"mobility.":[29],"From":[30],"previous":[31],"work":[32],"fundamental":[34],"tests":[35],"on":[36],"thin":[37],"plate":[38],"force":[39],"generation":[40],"inside":[41],"media,":[43],"introduce":[45],"origami-inspired":[47],"mechanism":[48],"with":[49,181],"non-linear":[50],"compliance":[51,109],"joints":[54],"can":[56],"be":[57,143],"used":[58],"propulsion.":[61],"This":[62,152],"concept":[63],"one-sided":[65],"joint":[66],"limits":[67],"create":[69],"asymmetric":[71],"gait":[72,183],"cycle":[73],"avoids":[75],"more":[76,132],"complicated":[77],"alternatives":[78],"often":[79],"found":[80],"other":[82],"swimming/digging":[83],"robots.":[84],"To":[85],"analyze":[86],"its":[87,92],"locomotion":[88],"as":[89,91,104],"well":[90],"shape":[93],"propulsive":[95],"force,":[96],"utilize":[98],"Resistive":[100],"Force":[101],"Theory":[102],"(RFT)":[103],"starting":[106],"point.":[107],"Adding":[108],"theory":[112],"enables":[113],"us":[114],"predict":[116],"time-based":[118],"evolution":[119],"when":[123],"they":[124],"are":[125],"dragged":[126],"rotated.":[128],"It":[129],"also":[130],"permits":[131],"rational":[133],"design":[134,140],"swimming":[136],"robots":[137],"where":[138],"fin":[139],"variables":[141],"may":[142],"optimized":[144,184],"against":[145],"characteristics":[147],"medium.":[151],"is":[153],"done":[154],"using":[155,185],"Python-based":[157],"dynamic":[158],"simulation":[159],"library":[160],"model":[162],"deformation":[164],"aspects":[170],"robot's":[173],"gait.":[174],"Finally,":[175],"prototype":[177],"test":[179],"modelling":[187],"techniques":[188],"mentioned":[189],"above.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
