{"id":"https://openalex.org/W2947527046","doi":"https://doi.org/10.1109/robosoft.2019.8722821","title":"Kirigami Skin Improves Soft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil","display_name":"Kirigami Skin Improves Soft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2947527046","doi":"https://doi.org/10.1109/robosoft.2019.8722821","mag":"2947527046"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722821","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-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/A5032514527","display_name":"Bangyuan Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bangyuan Liu","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031304323","display_name":"Yasemin Ozkan-Aydin","orcid":"https://orcid.org/0000-0003-4593-2146"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yasemin Ozkan-Aydin","raw_affiliation_strings":["School of Physics, Georgia Institute of Technology, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics, Georgia Institute of Technology, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078622216","display_name":"Daniel I. Goldman","orcid":"https://orcid.org/0000-0002-6954-9857"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel I. Goldman","raw_affiliation_strings":["School of Physics, Georgia Institute of Technology, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics, Georgia Institute of Technology, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044726844","display_name":"Frank L. Hammond","orcid":"https://orcid.org/0000-0002-1634-7573"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank L. Hammond","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032514527"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":10.5504,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.99195024,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"828","last_page":"833"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}}],"keywords":[{"id":"https://openalex.org/keywords/anchoring","display_name":"Anchoring","score":0.7243225574493408},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.599371075630188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5558428168296814},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.5121035575866699},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4956454038619995},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.46327897906303406},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4588090181350708},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4343881905078888},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.43255794048309326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3297613263130188},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.32039690017700195},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.31907743215560913},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2747289836406708},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27324986457824707},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.195420503616333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18145516514778137},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.11571818590164185},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10389432311058044},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10063165426254272}],"concepts":[{"id":"https://openalex.org/C18483071","wikidata":"https://www.wikidata.org/wiki/Q168432","display_name":"Anchoring","level":2,"score":0.7243225574493408},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.599371075630188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5558428168296814},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.5121035575866699},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4956454038619995},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.46327897906303406},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4588090181350708},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4343881905078888},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.43255794048309326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3297613263130188},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.32039690017700195},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31907743215560913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2747289836406708},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27324986457824707},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.195420503616333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18145516514778137},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.11571818590164185},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10389432311058044},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10063165426254272}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft.2019.8722821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722821","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.6899999976158142,"display_name":"Life in Land"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309321","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W627479602","https://openalex.org/W2035760025","https://openalex.org/W2064234420","https://openalex.org/W2071188031","https://openalex.org/W2142602006","https://openalex.org/W2168838142","https://openalex.org/W2485044656","https://openalex.org/W2566467848","https://openalex.org/W2607004978","https://openalex.org/W2768494102","https://openalex.org/W2772345198","https://openalex.org/W2788127870","https://openalex.org/W2789752694","https://openalex.org/W2880513838","https://openalex.org/W2887464601","https://openalex.org/W2896222509","https://openalex.org/W6755378734"],"related_works":["https://openalex.org/W2978614239","https://openalex.org/W4313425019","https://openalex.org/W2954622157","https://openalex.org/W4293769491","https://openalex.org/W2046106697","https://openalex.org/W2364316053","https://openalex.org/W4308154652","https://openalex.org/W2028280385","https://openalex.org/W1983403475","https://openalex.org/W2387009922"],"abstract_inverted_index":{"Earthworms":[0],"can":[1],"move":[2],"beneath":[3,153],"soil":[4,125,130,161,178],"by":[5,42,112,145],"expanding":[6],"parts":[7],"of":[8,53,107,136,157],"their":[9,22],"bodies":[10],"radially;":[11],"bristles":[12],"called":[13],"setae":[14],"work":[15],"as":[16,65,184],"anchors":[17],"during":[18,24],"surface":[19],"locomotion":[20,159],"but":[21],"efficacy":[23],"subsurface":[25],"movement":[26],"is":[27,83,110],"unknown.":[28],"We":[29],"designed":[30],"a":[31,68,101,114,175,196,229],"soft,":[32],"wormlike":[33],"robot":[34,51,158,186,194],"which":[35,89],"models":[36],"the":[37,73,124,129,133,137,147,185,224],"putative":[38],"earthworm":[39],"anchoring":[40,134,141],"mechanisms":[41],"combining":[43],"Kirigami":[44,76,108,166,192],"skin":[45,103,109,167],"with":[46,163,220],"radially-expanding":[47],"pneumatic":[48,55],"actuators.":[49],"The":[50,75,105,120,155,191],"consists":[52],"three":[54],"actuator":[56,82],"segments:":[57],"head":[58],"and":[59,67,94,216],"tail":[60],"segments":[61],"that":[62,71],"expand":[63],"radially":[64,84],"anchors,":[66],"middle":[69],"segment":[70,150],"elongates":[72],"body.":[74],"structure":[77],"pops":[78],"up":[79],"when":[80,98],"an":[81,221],"expanded,":[85],"forming":[86,100],"bristle-like":[87],"spikes":[88],"are":[90,142],"perpendicular":[91],"to":[92,205,228],"surface,":[93,131],"folds":[95],"back":[96],"down":[97],"deflated,":[99],"smoother":[102],"structure.":[104],"robustness":[106],"improved":[111,227],"introducing":[113],"novel":[115],"silicone-plastic":[116],"layer":[117],"fabrication":[118],"method.":[119],"pop-up":[121],"features":[122],"penetrate":[123],"without":[126,165],"significantly":[127],"deforming":[128],"improving":[132],"ability":[135],"segment.":[138],"Improvements":[139],"in":[140,149,160,170,181,208,232],"studied":[143],"systematically":[144],"measuring":[146],"differences":[148],"drag":[151,199],"forces":[152],"soil.":[154],"performance":[156],"terrain":[162,172],"or":[164],"was":[168],"measured":[169],"several":[171],"conditions":[173],"(within":[174],"cohesive":[176,182],"garden":[177],"channel,":[179],"buried":[180],"soil)":[183],"dragged":[187],"payloads":[188],"behind":[189],"it.":[190],"skin-covered":[193],"exhibits":[195],"greater":[197,213],"maximum":[198],"force":[200],"(improved":[201],"from":[202],"2.1\u00b10.3":[203],"N":[204,207],"5.5\u00b10.5":[206],"25mm":[209],"hole":[210],"diameter":[211],"condition),":[212],"forward":[214],"displacement,":[215],"higher":[217],"traction":[218],"(e.g.,":[219],"40g":[222],"payload,":[223],"3.7\u00b12.8":[225],"cm":[226],"12.5\u00b10.":[230],"1cm":[231],"6":[233],"gait":[234],"cycles).":[235]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5}],"updated_date":"2026-06-04T09:04:59.091469","created_date":"2025-10-10T00:00:00"}