{"id":"https://openalex.org/W4379928074","doi":"https://doi.org/10.1109/lra.2023.3284361","title":"StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures","display_name":"StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures","publication_year":2023,"publication_date":"2023-06-08","ids":{"openalex":"https://openalex.org/W4379928074","doi":"https://doi.org/10.1109/lra.2023.3284361"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3284361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3284361","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/A5019649400","display_name":"Luyang Zhao","orcid":"https://orcid.org/0000-0001-9419-8289"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luyang Zhao","raw_affiliation_strings":["Department of Computer Science, Dartmouth College, Hanover, NH, USA"],"raw_orcid":"https://orcid.org/0000-0001-9419-8289","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Dartmouth College, Hanover, NH, USA","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076851862","display_name":"Yijia Wu","orcid":"https://orcid.org/0000-0003-4379-9863"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yijia Wu","raw_affiliation_strings":["Department of Computer Science, Dartmouth College, Hanover, NH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Dartmouth College, Hanover, NH, USA","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090920615","display_name":"Wenzhong Yan","orcid":"https://orcid.org/0000-0002-3711-0807"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhong Yan","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Los Angeles, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3711-0807","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006980345","display_name":"Weishu Zhan","orcid":"https://orcid.org/0009-0009-2669-9992"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weishu Zhan","raw_affiliation_strings":["Department of Computer Science, Dartmouth College, Hanover, NH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Dartmouth College, Hanover, NH, USA","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000690549","display_name":"Xiaonan Huang","orcid":"https://orcid.org/0000-0002-2313-1551"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaonan Huang","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0002-2313-1551","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091321959","display_name":"Joran Booth","orcid":"https://orcid.org/0000-0002-7380-3416"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joran Booth","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0002-7380-3416","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112712086","display_name":"Ankur Mehta","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Mehta","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Los Angeles, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Bekris","raw_affiliation_strings":["Department of Computer Science, Rutgers, The State University of New Jersey, New Brunswick, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0002-0675-3324","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers, The State University of New Jersey, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010640110","display_name":"Rebecca Kramer\u2010Bottiglio","orcid":"https://orcid.org/0000-0003-2324-8124"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rebecca Kramer-Bottiglio","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0003-2324-8124","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001178194","display_name":"Devin Balkcom","orcid":"https://orcid.org/0000-0002-6553-5650"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Devin Balkcom","raw_affiliation_strings":["Department of Computer Science, Dartmouth College, Hanover, NH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Dartmouth College, Hanover, NH, USA","institution_ids":["https://openalex.org/I107672454"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5019649400"],"corresponding_institution_ids":["https://openalex.org/I107672454"],"apc_list":null,"apc_paid":null,"fwci":3.513,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.93228625,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"8","first_page":"4521","last_page":"4528"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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/tensegrity","display_name":"Tensegrity","score":0.7717069387435913},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6869252920150757},{"id":"https://openalex.org/keywords/load-bearing","display_name":"Load bearing","score":0.6624525785446167},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.6285318732261658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5800433158874512},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.5306621789932251},{"id":"https://openalex.org/keywords/lattice","display_name":"Lattice (music)","score":0.49660807847976685},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.43635839223861694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41021257638931274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2793411612510681},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2179940640926361},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20362523198127747},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14323917031288147},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11050036549568176},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08473595976829529}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.7717069387435913},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6869252920150757},{"id":"https://openalex.org/C2993075670","wikidata":"https://www.wikidata.org/wiki/Q2313934","display_name":"Load bearing","level":2,"score":0.6624525785446167},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.6285318732261658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5800433158874512},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.5306621789932251},{"id":"https://openalex.org/C2781204021","wikidata":"https://www.wikidata.org/wiki/Q6497091","display_name":"Lattice (music)","level":2,"score":0.49660807847976685},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.43635839223861694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41021257638931274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2793411612510681},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2179940640926361},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20362523198127747},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14323917031288147},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11050036549568176},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08473595976829529},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3284361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3284361","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":[{"display_name":"Sustainable cities and communities","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"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":46,"referenced_works":["https://openalex.org/W1579553668","https://openalex.org/W1968638140","https://openalex.org/W1992506602","https://openalex.org/W2002404574","https://openalex.org/W2013281060","https://openalex.org/W2079218888","https://openalex.org/W2079950637","https://openalex.org/W2141724420","https://openalex.org/W2149841830","https://openalex.org/W2156486793","https://openalex.org/W2164852838","https://openalex.org/W2179278009","https://openalex.org/W2206220723","https://openalex.org/W2252206721","https://openalex.org/W2486764282","https://openalex.org/W2513482041","https://openalex.org/W2571445476","https://openalex.org/W2576246534","https://openalex.org/W2604400459","https://openalex.org/W2752165401","https://openalex.org/W2777708059","https://openalex.org/W2782291184","https://openalex.org/W2785464061","https://openalex.org/W2799436222","https://openalex.org/W2883379426","https://openalex.org/W2905487059","https://openalex.org/W2912401671","https://openalex.org/W2912733240","https://openalex.org/W2922093629","https://openalex.org/W2922530861","https://openalex.org/W2963522883","https://openalex.org/W2996185064","https://openalex.org/W3006365281","https://openalex.org/W3010844811","https://openalex.org/W3139257454","https://openalex.org/W3174053666","https://openalex.org/W3186112034","https://openalex.org/W3188910109","https://openalex.org/W3209849585","https://openalex.org/W3215177828","https://openalex.org/W4211248062","https://openalex.org/W4220999742","https://openalex.org/W4236625958","https://openalex.org/W4240919341","https://openalex.org/W4242225484","https://openalex.org/W6799058625"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2040728928","https://openalex.org/W1974778898","https://openalex.org/W3015911334","https://openalex.org/W2727566482"],"abstract_inverted_index":{"In":[0],"this":[1,105],"paper,":[2],"we":[3,74],"present":[4],"a":[5,23,84,88,91,93],"soft":[6],"modular":[7],"block":[8,21],"inspired":[9],"by":[10],"tensegrity":[11],"structures":[12,17,121],"that":[13,115],"can":[14,50,116],"form":[15],"load-bearing":[16,85,120],"through":[18],"self-assembly.":[19],"The":[20],"comprises":[22],"stellated":[24],"compliant":[25],"skeleton,":[26],"shape":[27],"memory":[28],"alloy":[29],"muscles,":[30],"and":[31,47,66,78,99],"permanent":[32],"magnet":[33],"connectors.":[34],"We":[35],"classify":[36],"five":[37],"deformation":[38],"primitives":[39],"for":[40],"individual":[41],"blocks:":[42],"bend,":[43],"compress,":[44],"stretch,":[45],"stand,":[46],"shrink,":[48],"which":[49],"be":[51],"combined":[52],"across":[53],"modules":[54,113],"to":[55],"reason":[56],"about":[57],"full-lattice":[58],"deformation.":[59],"Hierarchical":[60],"function":[61],"is":[62,106],"abundant":[63],"in":[64,67],"nature":[65],"human-designed":[68],"systems.":[69],"Using":[70],"multiple":[71],"self-assembled":[72,89],"lattices,":[73],"demonstrate":[75],"the":[76,107],"formation":[77],"actuation":[79],"of":[80,110],"3-dimensional":[81],"shapes,":[82],"including":[83],"pop-up":[86],"tent,":[87],"wheel,":[90],"quadruped,":[92],"block-based":[94],"robotic":[95],"arm":[96],"with":[97],"gripper,":[98],"non-prehensile":[100],"manipulation.":[101],"To":[102],"our":[103],"knowledge,":[104],"first":[108],"example":[109],"active":[111],"deformable":[112],"(blocks)":[114],"reconfigure":[117],"into":[118],"different":[119],"on-demand.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":8}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
