{"id":"https://openalex.org/W3036653537","doi":"https://doi.org/10.1109/robosoft48309.2020.9115996","title":"A Boundary-Constrained Swarm Robot with Granular Jamming","display_name":"A Boundary-Constrained Swarm Robot with Granular Jamming","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3036653537","doi":"https://doi.org/10.1109/robosoft48309.2020.9115996","mag":"3036653537"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft48309.2020.9115996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9115996","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103023596","display_name":"Mohammad Amin Karimi","orcid":"https://orcid.org/0000-0002-1588-5484"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad Amin Karimi","raw_affiliation_strings":["Illinois Institute of Technology,Mechanical, Materials, and Aerospace Engineering Department,Chicago,IL,USA,60616","Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials, and Aerospace Engineering Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021156637","display_name":"Vahid Alizadehyazdi","orcid":"https://orcid.org/0000-0001-9561-2007"},"institutions":[{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vahid Alizadehyazdi","raw_affiliation_strings":["James Franck Institute, The University of Chicago,Chicago,IL,USA,60637","James Franck Institute, The University of Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"James Franck Institute, The University of Chicago,Chicago,IL,USA,60637","institution_ids":["https://openalex.org/I40347166"]},{"raw_affiliation_string":"James Franck Institute, The University of Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I40347166"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068802737","display_name":"Bruno-Pier Busque","orcid":"https://orcid.org/0009-0003-0041-8781"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bruno-Pier Busque","raw_affiliation_strings":["Université de Sherbrooke,Department of Mechanical Engineering,QC,Canada,J1K 2R1","Department of Mechanical Engineering, Universit\u00e9 de Sherbrooke, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Sherbrooke,Department of Mechanical Engineering,QC,Canada,J1K 2R1","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Universit\u00e9 de Sherbrooke, QC, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044135160","display_name":"Heinrich M. Jaeger","orcid":"https://orcid.org/0009-0001-0270-6870"},"institutions":[{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heinrich M. Jaeger","raw_affiliation_strings":["James Franck Institute, The University of Chicago,Chicago,IL,USA,60637","James Franck Institute, The University of Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"James Franck Institute, The University of Chicago,Chicago,IL,USA,60637","institution_ids":["https://openalex.org/I40347166"]},{"raw_affiliation_string":"James Franck Institute, The University of Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I40347166"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077307223","display_name":"Matthew Spenko","orcid":"https://orcid.org/0000-0001-6483-5339"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Spenko","raw_affiliation_strings":["Illinois Institute of Technology,Mechanical, Materials, and Aerospace Engineering Department,Chicago,IL,USA,60616","Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials, and Aerospace Engineering Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"291","last_page":"296"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9988999962806702,"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/jamming","display_name":"Jamming","score":0.820645809173584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7796752452850342},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7011652588844299},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6760764718055725},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5959902405738831},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4895363748073578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4693779945373535},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.46752381324768066},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.42349573969841003},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4230725169181824},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41489535570144653},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3714592456817627},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35524916648864746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28626275062561035},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1498439610004425},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1260884702205658},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07748657464981079}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.820645809173584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7796752452850342},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7011652588844299},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6760764718055725},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5959902405738831},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4895363748073578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4693779945373535},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.46752381324768066},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.42349573969841003},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4230725169181824},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41489535570144653},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3714592456817627},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35524916648864746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28626275062561035},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1498439610004425},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1260884702205658},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07748657464981079},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft48309.2020.9115996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9115996","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.44999998807907104,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1606846501","https://openalex.org/W1811460226","https://openalex.org/W1826399803","https://openalex.org/W2007924815","https://openalex.org/W2029744358","https://openalex.org/W2036723211","https://openalex.org/W2072293370","https://openalex.org/W2074535625","https://openalex.org/W2079574144","https://openalex.org/W2087981274","https://openalex.org/W2095671479","https://openalex.org/W2096296143","https://openalex.org/W2110553134","https://openalex.org/W2126574237","https://openalex.org/W2131493213","https://openalex.org/W2146947104","https://openalex.org/W2171941951","https://openalex.org/W2259942851","https://openalex.org/W2520982900","https://openalex.org/W2565233142","https://openalex.org/W2576531615","https://openalex.org/W2577404187","https://openalex.org/W2763137514","https://openalex.org/W2792966616","https://openalex.org/W2908786827","https://openalex.org/W2920292158","https://openalex.org/W6672320607"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W1501306699","https://openalex.org/W4376605790","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W2168918646","https://openalex.org/W2283275227","https://openalex.org/W2292078036","https://openalex.org/W2655458901"],"abstract_inverted_index":{"This":[0],"paper":[1,130],"describes":[2,131],"a":[3,12,19,26,49,89,113],"new":[4],"type":[5],"of":[6,18,28,43,115,135],"compliant":[7,63,67],"and":[8,32,64,74,95,103,119,141],"configurable":[9],"soft":[10],"robot,":[11,137],"boundary-constrained":[13],"swarm.":[14],"The":[15,36,66,129],"robot":[16,37,54,71,86],"consists":[17],"sealed":[20,45],"flexible":[21],"membrane":[22,46],"that":[23,122],"constrains":[24],"both":[25],"number":[27],"mobile":[29],"robotic":[30,127],"subunits":[31],"passive":[33],"granular":[34],"material.":[35],"can":[38],"change":[39],"the":[40,44,53,55,70,85,126,132,136,138],"volume":[41],"fraction":[42],"by":[47],"applying":[48],"vacuum,":[50],"which":[51],"gives":[52],"ability":[56],"to":[57,72,76,87],"operate":[58],"in":[59],"two":[60],"distinct":[61],"states:":[62],"jammed.":[65],"state":[68],"allows":[69,84],"surround":[73],"conform":[75],"objects":[77],"or":[78],"pass":[79],"through":[80],"narrow":[81],"corridors.":[82],"Jamming":[83],"form":[88],"desired":[90],"shape;":[91],"grasp,":[92],"(a)":[93],"manipulate,":[94],"exert":[96],"relatively":[97,105],"high":[98],"forces":[99],"on":[100,125],"external":[101],"objects;":[102],"achieve":[104],"higher":[106],"locomotion":[107],"speeds.":[108],"Locomotion":[109],"is":[110],"achieved":[111],"with":[112],"combination":[114],"whegs":[116],"(wheeled":[117],"legs)":[118],"vibration":[120],"motors":[121],"are":[123],"located":[124],"subunits.":[128],"mechanical":[133],"design":[134],"control":[139],"methodology,":[140],"its":[142],"object":[143],"handling":[144],"capability.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}