{"id":"https://openalex.org/W3036038141","doi":"https://doi.org/10.1109/robosoft48309.2020.9116042","title":"Cable-Driven Jamming of a Boundary Constrained Soft Robot","display_name":"Cable-Driven Jamming of a Boundary Constrained Soft Robot","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3036038141","doi":"https://doi.org/10.1109/robosoft48309.2020.9116042","mag":"3036038141"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft48309.2020.9116042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116042","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/A5101705471","display_name":"Koki Tanaka","orcid":"https://orcid.org/0000-0003-2813-7888"},"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":"Koki Tanaka","raw_affiliation_strings":["Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","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 Department,Chicago,IL,USA,60616","Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"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":["Universit&#x00E9; 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":"Universit&#x00E9; 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/A5070312556","display_name":"Declan Mulroy","orcid":"https://orcid.org/0000-0001-9481-466X"},"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":"Declan Mulroy","raw_affiliation_strings":["Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008068789","display_name":"Qiyuan Zhou","orcid":null},"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":"Qiyuan Zhou","raw_affiliation_strings":["Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052182874","display_name":"Richa Batra","orcid":"https://orcid.org/0000-0003-3708-0086"},"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":"Richa Batra","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/A5049187891","display_name":"Ankit Srivastava","orcid":"https://orcid.org/0000-0002-9610-8088"},"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":"Ankit Srivastava","raw_affiliation_strings":["Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"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 Department,Chicago,IL,USA,60616","Mechanical, Materials and Aerospace Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology,Mechanical, Materials and Aerospace Department,Chicago,IL,USA,60616","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials and Aerospace 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":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"852","last_page":"857"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9983000159263611,"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/robot","display_name":"Robot","score":0.7600064277648926},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.6986453533172607},{"id":"https://openalex.org/keywords/reconfigurability","display_name":"Reconfigurability","score":0.5685327649116516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4950923025608063},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.48959025740623474},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4460339844226837},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4135918915271759},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39063724875450134},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33846864104270935},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33447587490081787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2801966965198517},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08475777506828308}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7600064277648926},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.6986453533172607},{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.5685327649116516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4950923025608063},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.48959025740623474},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4460339844226837},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4135918915271759},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39063724875450134},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33846864104270935},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33447587490081787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2801966965198517},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08475777506828308},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft48309.2020.9116042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116042","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":25,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1614964691","https://openalex.org/W1982455103","https://openalex.org/W1989718315","https://openalex.org/W2007924815","https://openalex.org/W2023363667","https://openalex.org/W2025613329","https://openalex.org/W2027454283","https://openalex.org/W2029744358","https://openalex.org/W2070099904","https://openalex.org/W2079574144","https://openalex.org/W2103903082","https://openalex.org/W2119348011","https://openalex.org/W2124992704","https://openalex.org/W2478676557","https://openalex.org/W2556078315","https://openalex.org/W2558552741","https://openalex.org/W2565233142","https://openalex.org/W2737491236","https://openalex.org/W2754179659","https://openalex.org/W2760117801","https://openalex.org/W2768326939","https://openalex.org/W2782435507","https://openalex.org/W2890388788","https://openalex.org/W3123498136"],"related_works":["https://openalex.org/W1544665014","https://openalex.org/W2748364266","https://openalex.org/W4243861219","https://openalex.org/W2556374054","https://openalex.org/W2069545207","https://openalex.org/W2092579166","https://openalex.org/W2969723039","https://openalex.org/W1977947048","https://openalex.org/W2914540329","https://openalex.org/W2906337187"],"abstract_inverted_index":{"Soft":[0],"robots":[1,17,43],"employ":[2],"flexible":[3,80],"and":[4,11,24,50,113,136,143,149,160,178,196,199],"compliant":[5,49],"materials":[6],"to":[7,21,70,78,133,153,203],"perform":[8,144],"adaptive":[9],"tasks":[10],"navigate":[12],"uncertain":[13],"environments.":[14],"However,":[15],"soft":[16,42,159,175,195],"are":[18],"often":[19],"unable":[20],"achieve":[22,134],"forces":[23],"precision":[25],"on":[26],"the":[27,106,110,119,122,140,155,173,180,191,201,205,208],"order":[28],"of":[29,40,86,99,109,121,147,182,185,193],"rigid-bodied":[30,74],"robots.":[31,186],"In":[32],"this":[33,183],"paper,":[34],"we":[35,171],"propose":[36],"a":[37,73,129,145,166],"new":[38],"class":[39,184],"mobile":[41],"that":[44,103],"can":[45,57,104],"reversibly":[46],"transition":[47],"between":[48,207],"stiff":[51],"states":[52],"without":[53],"reconfiguration.":[54],"The":[55,82,95,187],"robot":[56,141,176],"passively":[58],"conform":[59],"or":[60],"actively":[61],"control":[62,105],"its":[63,67,79],"shape,":[64],"stiffen":[65],"in":[66,158,169],"current":[68],"configuration":[69],"function":[71],"as":[72],"robot,":[75],"then":[76],"return":[77],"form.":[81],"robotic":[83,101,126],"structure":[84],"consists":[85],"passive":[87],"granular":[88,111],"material":[89,112],"surrounded":[90],"by":[91,117],"an":[92],"active":[93],"membrane.":[94],"membrane":[96],"is":[97],"composed":[98],"interconnected":[100],"sub-units":[102],"packing":[107],"density":[108],"exploit":[114],"jamming":[115,174],"behaviors":[116],"varying":[118],"length":[120],"interconnecting":[123],"cables.":[124],"Each":[125],"sub-unit":[127],"uses":[128],"differential":[130],"drive":[131],"system":[132],"locomotion":[135,148],"self-reconfigurability.":[137],"We":[138,163],"present":[139],"design":[142,177],"set":[146],"object":[150],"manipulation":[151],"experiments":[152],"characterize":[154],"robot's":[156],"performance":[157],"rigid":[161,197],"states.":[162],"also":[164],"introduce":[165],"simulation":[167],"framework":[168],"which":[170],"model":[172],"study":[179],"scalability":[181],"proposed":[188],"concept":[189],"demonstrates":[190],"properties":[192],"both":[194],"robots,":[198],"has":[200],"potential":[202],"bridge":[204],"gap":[206],"two.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
