{"id":"https://openalex.org/W3030252707","doi":"https://doi.org/10.1109/robosoft48309.2020.9116020","title":"Shear Strengthened Granular Jamming Feet for Improved Performance over Natural Terrain","display_name":"Shear Strengthened Granular Jamming Feet for Improved Performance over Natural Terrain","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3030252707","doi":"https://doi.org/10.1109/robosoft48309.2020.9116020","mag":"3030252707"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft48309.2020.9116020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116020","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/A5028649939","display_name":"Emily Lathrop","orcid":"https://orcid.org/0000-0003-3104-1908"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emily Lathrop","raw_affiliation_strings":["University of California San Diego,Department of Mechanical and Aerospace Engineering","Department of Mechanical and Aerospace Engineering, University of California San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Mechanical and Aerospace Engineering","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085853642","display_name":"Iman Adibnazari","orcid":"https://orcid.org/0000-0001-5922-1105"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iman Adibnazari","raw_affiliation_strings":["University of California San Diego,Department of Electrical and Computer Engineering","Department of Electrical and Computer Engineering, University of California San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034529120","display_name":"Nick Gravish","orcid":"https://orcid.org/0000-0002-9391-2476"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nick Gravish","raw_affiliation_strings":["University of California San Diego,Department of Mechanical and Aerospace Engineering","Department of Mechanical and Aerospace Engineering, University of California San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Mechanical and Aerospace Engineering","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T. Tolley","raw_affiliation_strings":["University of California San Diego,Department of Mechanical and Aerospace Engineering","Department of Mechanical and Aerospace Engineering, University of California San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California San Diego,Department of Mechanical and Aerospace Engineering","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"388","last_page":"393"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9957000017166138,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9957000017166138,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9891999959945679,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9858999848365784,"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/jamming","display_name":"Jamming","score":0.8864110708236694},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7724791765213013},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.5725703835487366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5348739624023438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5241672992706299},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.4721814692020416},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3692111372947693},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3564930558204651},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34922945499420166},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.32035911083221436},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28092992305755615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1685953438282013},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10431960225105286}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8864110708236694},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7724791765213013},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.5725703835487366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5348739624023438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5241672992706299},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.4721814692020416},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3692111372947693},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3564930558204651},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34922945499420166},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.32035911083221436},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28092992305755615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1685953438282013},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10431960225105286},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft48309.2020.9116020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116020","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1919781749","https://openalex.org/W1952425972","https://openalex.org/W1992878443","https://openalex.org/W1992893583","https://openalex.org/W2007924815","https://openalex.org/W2015595462","https://openalex.org/W2022330345","https://openalex.org/W2022781970","https://openalex.org/W2029744358","https://openalex.org/W2055111324","https://openalex.org/W2084693106","https://openalex.org/W2096296143","https://openalex.org/W2130850127","https://openalex.org/W2146752178","https://openalex.org/W2146947104","https://openalex.org/W2480989714","https://openalex.org/W2564207292","https://openalex.org/W2601610124","https://openalex.org/W2738259110","https://openalex.org/W2768670567","https://openalex.org/W2788127870","https://openalex.org/W2888394177"],"related_works":["https://openalex.org/W2005824415","https://openalex.org/W2372999110","https://openalex.org/W3136493222","https://openalex.org/W65309699","https://openalex.org/W2997803326","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2909067415","https://openalex.org/W4226082913"],"abstract_inverted_index":{"Walking":[0],"on":[1],"natural":[2,77,191],"terrain":[3,78,88],"like":[4],"soil":[5],"and":[6,29,65,93,95,177],"rock":[7],"is":[8],"a":[9,17,73,151,187],"challenging":[10],"problem":[11],"that":[12,69,119],"has":[13,53,103],"been":[14,104],"approached":[15],"from":[16],"variety":[18],"of":[19,76,115,158,173,182,190],"strategies":[20],"such":[21,89],"as":[22,90],"using":[23],"sophisticated":[24],"control":[25],"methods,":[26],"compliant":[27,30,64],"legs,":[28],"feet.":[31],"In":[32],"this":[33],"paper":[34],"we":[35,153],"explore":[36],"how":[37,55],"to":[38,62,83,106,123,134,144,150,160,168,175,184],"modify":[39],"granular":[40,56,108,124],"jamming":[41,57,109,125],"feet":[42,68,82,110],"for":[43,111],"walking":[44],"applications":[45],"by":[46,79,138],"adding":[47,120],"stabilizing":[48],"internal":[49,121],"structures.":[50],"Previous":[51],"work":[52,102],"explored":[54],"technology":[58],"can":[59,127],"be":[60],"used":[61],"create":[63],"stiffness":[66],"changing":[67],"enable":[70],"locomotion":[71],"over":[72,186],"diverse":[74,188],"range":[75],"allowing":[80],"robot":[81],"conform":[84,145],"around":[85,146],"3D":[86],"multicomponent":[87],"wood":[91],"chips":[92],"gravel":[94],"stiffen,":[96],"preventing":[97],"slip.":[98],"To":[99],"date,":[100],"no":[101],"done":[105],"tune":[107],"the":[112,129,164],"specific":[113],"application":[114],"walking.":[116],"We":[117],"show":[118],"structures":[122],"membranes":[126],"increase":[128],"force":[130,181],"they":[131],"are":[132],"able":[133],"resist":[135],"without":[136],"slipping":[137],"1.5x":[139],"while":[140],"maintaining":[141],"their":[142],"ability":[143],"obstacles.":[147],"When":[148],"attached":[149],"robot,":[152],"see":[154],"increases":[155,178],"in":[156,163,179],"speed":[157],"up":[159,174,183],"1.4x,":[161],"decreases":[162],"duty":[165],"cycle":[166],"necessary":[167],"reach":[169],"desired":[170],"foot":[171],"trajectories":[172],"5%,":[176],"traction":[180],"1.2x":[185],"set":[189],"terrain.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}