{"id":"https://openalex.org/W4386559526","doi":"https://doi.org/10.1109/lra.2023.3313008","title":"A Small-Scale Untethered Tensegrity Robot With High Velocity and Multi Locomotion Modes","display_name":"A Small-Scale Untethered Tensegrity Robot With High Velocity and Multi Locomotion Modes","publication_year":2023,"publication_date":"2023-09-08","ids":{"openalex":"https://openalex.org/W4386559526","doi":"https://doi.org/10.1109/lra.2023.3313008"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3313008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313008","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/A5103282030","display_name":"Qi Yang","orcid":"https://orcid.org/0000-0002-5042-4069"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qi Yang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5042-4069","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101811517","display_name":"Ze Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ze Yu","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0002-6327-3447","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100446457","display_name":"Xinyu Liu","orcid":"https://orcid.org/0009-0002-0709-5535"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Liu","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0002-0709-5535","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036840301","display_name":"Binbin Lian","orcid":"https://orcid.org/0000-0002-6747-8565"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binbin Lian","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-6747-8565","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050691990","display_name":"Tao Sun","orcid":"https://orcid.org/0000-0002-3781-0707"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Sun","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3781-0707","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103282030"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":2.3771,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87687388,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"7503","last_page":"7510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9923999905586243,"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":0.9869999885559082,"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/tensegrity","display_name":"Tensegrity","score":0.9562904834747314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8016175031661987},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6817054748535156},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5483827590942383},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.537992537021637},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5095736980438232},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.49894189834594727},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4908495545387268},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46915069222450256},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.43985897302627563},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3552456796169281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3402494490146637},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3283618092536926},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2635899782180786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2162320613861084},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14043107628822327}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9562904834747314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8016175031661987},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6817054748535156},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5483827590942383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.537992537021637},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5095736980438232},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.49894189834594727},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4908495545387268},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46915069222450256},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.43985897302627563},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3552456796169281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3402494490146637},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3283618092536926},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2635899782180786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2162320613861084},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14043107628822327},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/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.2023.3313008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313008","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":[],"awards":[{"id":"https://openalex.org/G3131121788","display_name":null,"funder_award_id":"20201193","funder_id":"https://openalex.org/F4320336756","funder_display_name":"Tianjin Science and Technology Program"},{"id":"https://openalex.org/G7242153016","display_name":null,"funder_award_id":"52275028","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7898494977","display_name":null,"funder_award_id":"52205028","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8844489126","display_name":null,"funder_award_id":"62027812","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/F4320336756","display_name":"Tianjin Science and Technology Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1590980019","https://openalex.org/W2003742264","https://openalex.org/W2077705453","https://openalex.org/W2139073742","https://openalex.org/W2157755414","https://openalex.org/W2187459711","https://openalex.org/W2257879399","https://openalex.org/W2325291015","https://openalex.org/W2594507603","https://openalex.org/W2752197228","https://openalex.org/W2765131772","https://openalex.org/W2793677473","https://openalex.org/W2883074872","https://openalex.org/W2898265615","https://openalex.org/W2905880610","https://openalex.org/W2964303882","https://openalex.org/W2973117611","https://openalex.org/W3003984743","https://openalex.org/W3047997965","https://openalex.org/W3080389425","https://openalex.org/W3132361560","https://openalex.org/W3205296708","https://openalex.org/W3209955306","https://openalex.org/W4211248062","https://openalex.org/W4221023221","https://openalex.org/W4311462340","https://openalex.org/W4385617521","https://openalex.org/W6686880644","https://openalex.org/W6700741527","https://openalex.org/W6745272704","https://openalex.org/W6781821310"],"related_works":["https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W3004877747","https://openalex.org/W2753313941","https://openalex.org/W2743429811","https://openalex.org/W3109937722","https://openalex.org/W2774932088","https://openalex.org/W87601075","https://openalex.org/W3089631629","https://openalex.org/W4387527360"],"abstract_inverted_index":{"Tensegrity":[0],"mobile":[1,18,60,201],"robots":[2,19,61],"are":[3,97],"well-appraised":[4],"for":[5,126,134],"their":[6],"high":[7,86,110],"stiffness-to-mass":[8],"ratio":[9],"and":[10,37,49,88,94,129,155,160,178,197,225,228],"superior":[11],"structural":[12],"compliance.":[13],"However,":[14],"traditional":[15],"untethered":[16,82,199],"tensegrity":[17,59,83,92,102,200,208],"usually":[20],"have":[21,62],"low":[22],"velocity":[23,87,111,188],"due":[24],"to":[25,43,99,108,139,190,212],"the":[26,44,53,57,73,101,106,148,165,183,195,237],"large":[27],"actuation":[28],"force":[29],"required":[30],"by":[31],"coupling":[32],"effects":[33],"among":[34],"stiff":[35],"struts":[36],"soft":[38],"cables.":[39],"This":[40],"also":[41],"leads":[42],"drawback":[45],"of":[46,52,72,143,147,158,164,220],"bulky":[47],"volume":[48],"heavy":[50],"mass":[51],"robots.":[54,74],"In":[55,75,137],"addition,":[56],"existing":[58],"very":[63],"limited":[64],"locomotion":[65,145,215],"modes,":[66],"resulting":[67],"in":[68,218,232],"weak":[69],"multi-terrain":[70,233],"adaptability":[71],"this":[76,172],"letter,":[77],"we":[78],"report":[79],"a":[80,114,174,187],"small-scale":[81],"robot":[84,107,149,166,184,202,209],"with":[85],"multi-locomotion":[89,112,238],"modes.":[90,239],"Clustered":[91],"structure":[93],"modular":[95],"concept":[96],"adopted":[98],"design":[100],"robot,":[103],"which":[104,193],"endows":[105],"achieve":[109,186,213],"within":[113],"small":[115],"scale":[116],"(length,":[117],"11":[118],"cm;":[119,122],"width,":[120],"9":[121],"height,":[123],"5.5":[124],"cm":[125],"each":[127,135],"module)":[128],"light":[130],"weight":[131],"(160":[132],"g":[133],"module).":[136],"order":[138],"analysis":[140],"kinematic":[141,151],"characteristics":[142],"different":[144],"modes":[146,216],"quantitatively,":[150],"modelling":[152],"is":[153,176,194,210],"conducted,":[154],"driving":[156],"laws":[157],"motors":[159],"displacements":[161],"(and":[162],"velocities)":[163],"can":[167,185,229],"be":[168,230],"obtained":[169],"theoretically.":[170],"On":[171],"basis,":[173],"prototype":[175],"manufactured,":[177],"experimental":[179],"results":[180],"show":[181],"that":[182],"up":[189],"222.1":[191],"BL/min,":[192],"smallest":[196],"fastest":[198],"reported":[203],"so":[204],"far.":[205],"Meanwhile,":[206],"our":[207],"demonstrated":[211],"five":[214],"effectively":[217],"terms":[219],"earthworm-like,":[221],"inchworm-like,":[222],"tumbling,":[223],"rolling":[224],"hybrid":[226],"locomotion,":[227],"used":[231],"environments":[234],"benefit":[235],"from":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}