{"id":"https://openalex.org/W4225113269","doi":"https://doi.org/10.1109/robosoft54090.2022.9762069","title":"Unleashing Soft Modular Robots by means of a Bio-inspired Connection Strategy","display_name":"Unleashing Soft Modular Robots by means of a Bio-inspired Connection Strategy","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4225113269","doi":"https://doi.org/10.1109/robosoft54090.2022.9762069"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/186898","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079385521","display_name":"Davide Zappetti","orcid":"https://orcid.org/0000-0002-7733-8865"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"D. Zappetti","raw_affiliation_strings":["EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012425915","display_name":"William J. Stewart","orcid":"https://orcid.org/0000-0003-4482-9147"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"W. J. Stewart","raw_affiliation_strings":["EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046698102","display_name":"M. Boutot","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"M. Boutot","raw_affiliation_strings":["EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"D. Floreano","raw_affiliation_strings":["EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL,Laboratory of Intelligent Systems,Lausanne,Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079385521"],"corresponding_institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.0979,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.33201015,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1989","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9943000078201294,"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/modular-design","display_name":"Modular design","score":0.8477325439453125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8007259368896484},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7443397641181946},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5671629905700684},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5477744936943054},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4880274832248688},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.4451606273651123},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.43897074460983276},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38767358660697937},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32255810499191284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3172640800476074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2681492269039154},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21082133054733276},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.14860183000564575},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09940221905708313}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8477325439453125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8007259368896484},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7443397641181946},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5671629905700684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5477744936943054},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4880274832248688},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.4451606273651123},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.43897074460983276},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38767358660697937},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32255810499191284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3172640800476074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2681492269039154},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21082133054733276},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.14860183000564575},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09940221905708313},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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":2,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:293271","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/186898","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:293271","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/186898","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5279723219","display_name":null,"funder_award_id":"20B2-1180861","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1988251166","https://openalex.org/W2059605829","https://openalex.org/W2122341732","https://openalex.org/W2145672288","https://openalex.org/W2145745703","https://openalex.org/W2149841830","https://openalex.org/W2159421706","https://openalex.org/W2219732095","https://openalex.org/W2513482041","https://openalex.org/W2571445476","https://openalex.org/W2604400459","https://openalex.org/W2738971915","https://openalex.org/W2753732081","https://openalex.org/W2788608293","https://openalex.org/W2790084889","https://openalex.org/W2806506062","https://openalex.org/W2927347090","https://openalex.org/W2947406630","https://openalex.org/W2964446312","https://openalex.org/W3004877747","https://openalex.org/W3006365281","https://openalex.org/W3036620014","https://openalex.org/W3143589474","https://openalex.org/W4251914763"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W3139257454"],"abstract_inverted_index":{"Untethering":[0],"can":[1,61,161],"allow":[2],"soft":[3,25,52,59,87,137],"modular":[4,26,138],"robots":[5,27],"to":[6,31,113,133,164],"move":[7,162],"from":[8],"the":[9,23,51,55,94,98,101,117],"laboratory":[10],"test":[11],"bench":[12],"into":[13,50],"realistic":[14],"environments":[15],"and":[16,35,68,90,151,157],"commercial":[17],"use.":[18],"However,":[19],"today's":[20],"state":[21],"of":[22,57,97,120,144,154],"art":[24],"remain":[28],"electrically":[29,91],"connected":[30,111],"external":[32],"power":[33,69],"sources":[34],"controllers.":[36],"The":[37],"reason":[38],"for":[39],"this":[40],"is":[41],"that":[42,85,107,160],"current":[43],"electrical":[44,64,103,128],"connections":[45],"between":[46],"modules":[47,72,88,112,124],"induce":[48],"rigidity":[49],"robot,":[53],"eliminating":[54],"advantages":[56],"being":[58],"or":[60],"have":[62],"high":[63,95],"resistance":[65],"making":[66],"communication":[67],"exchange":[70],"among":[71],"impractical.":[73],"To":[74],"overcome":[75],"this,":[76],"we":[77],"present":[78],"a":[79,141,158],"new":[80],"bio-inspired":[81],"inter-module":[82],"connection":[83],"strategy":[84,109],"connects":[86],"mechanically":[89],"without":[92],"sacrificing":[93],"deformability":[96],"robot":[99],"nor":[100],"low":[102,127],"resistance.":[104,129],"We":[105],"show":[106],"our":[108],"allows":[110],"retain":[114],"stiffness":[115],"in":[116],"same":[118],"order":[119],"magnitude":[121],"as":[122],"individual":[123],"while":[125],"providing":[126],"This":[130],"enabled":[131],"us":[132],"develop":[134],"two":[135,146],"untethered":[136],"tensegrity":[139],"robots,":[140],"gripper":[142],"capable":[143],"holding":[145],"times":[147],"its":[148],"body":[149],"weight":[150],"grasp":[152],"objects":[153],"different":[155],"shapes":[156],"crawler":[159],"up":[163],"4.5cm/min.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
