{"id":"https://openalex.org/W4396875107","doi":"https://doi.org/10.1109/robosoft60065.2024.10521924","title":"Performance Enhancement of a Morphing Limb for an Amphibious Robotic Turtle","display_name":"Performance Enhancement of a Morphing Limb for an Amphibious Robotic Turtle","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396875107","doi":"https://doi.org/10.1109/robosoft60065.2024.10521924"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th 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/A5031116665","display_name":"Jiefeng Sun","orcid":"https://orcid.org/0000-0002-0886-4108"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiefeng Sun","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104299622","display_name":"Brandon Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brandon Lin","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102664268","display_name":"Luis A. Ramirez","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis A. Ramirez","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097985118","display_name":"Esteban Figueroa","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Esteban Figueroa","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040068988","display_name":"Robert Baines","orcid":"https://orcid.org/0000-0002-9023-1536"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Baines","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011616746","display_name":"Bilige Yang","orcid":"https://orcid.org/0000-0003-2721-6832"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilige Yang","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097985119","display_name":"Erick Marroquin","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erick Marroquin","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010640110","display_name":"Rebecca Kramer\u2010Bottiglio","orcid":"https://orcid.org/0000-0003-2324-8124"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rebecca Kramer-Bottiglio","raw_affiliation_strings":["Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University,Department of Mechanical Engineering and Materials Science,New Haven,CT,USA,06511","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"374","last_page":"379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9976999759674072,"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/morphing","display_name":"Morphing","score":0.8784692883491516},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6206503510475159},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5717644691467285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5397587418556213},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.5196927189826965},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4993774890899658},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.48789259791374207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4822040796279907},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.47940751910209656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4274601936340332},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.41418296098709106},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4141320586204529},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3711611032485962},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33562320470809937},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2705749273300171},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22539880871772766},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2022290825843811},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.1626708209514618},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1254347562789917},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11940932273864746}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.8784692883491516},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6206503510475159},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5717644691467285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5397587418556213},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.5196927189826965},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4993774890899658},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.48789259791374207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4822040796279907},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.47940751910209656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4274601936340332},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.41418296098709106},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4141320586204529},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3711611032485962},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33562320470809937},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2705749273300171},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22539880871772766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2022290825843811},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.1626708209514618},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1254347562789917},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11940932273864746},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/robosoft60065.2024.10521924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G4765400610","display_name":null,"funder_award_id":"EFMA-1830870","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1962898515","https://openalex.org/W2076369322","https://openalex.org/W2109080475","https://openalex.org/W2789741901","https://openalex.org/W2910068277","https://openalex.org/W2999358423","https://openalex.org/W3107437201","https://openalex.org/W3136025710","https://openalex.org/W3183827432","https://openalex.org/W3190977849","https://openalex.org/W4285818372","https://openalex.org/W4304698290","https://openalex.org/W4320478307","https://openalex.org/W4378510333","https://openalex.org/W4386022202","https://openalex.org/W4387097881","https://openalex.org/W4387336093"],"related_works":["https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4385170164","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W1580681114","https://openalex.org/W51472912","https://openalex.org/W4362722828","https://openalex.org/W2375652671","https://openalex.org/W2370788183"],"abstract_inverted_index":{"Terrestrial":[0,15],"and":[1,20,31,66,92,98,107,157,186,216],"aquatic":[2,25],"animals":[3],"exhibit":[4],"appendages":[5,16,26,38],"adapted":[6],"to":[7,28,70,118,131,181,204],"the":[8,122,126,138,144,147,152,158,162,170,197,207,220],"propulsion":[9,74],"physics":[10,75],"of":[11,43,125,140,151,161],"their":[12,64],"primary":[13],"habitats.":[14],"typically":[17],"assume":[18],"stiff":[19],"load-bearing":[21,149],"form":[22],"factors,":[23],"while":[24],"tend":[27],"adopt":[29],"flexible":[30,103],"streamlined":[32],"profiles.":[33],"Bio-inspired":[34],"robots":[35],"with":[36,48,179],"synthetic":[37],"often":[39],"mirror":[40],"this":[41],"dichotomy":[42],"specialization:":[44],"they":[45],"are":[46],"designed":[47],"fixed":[49],"legs":[50],"or":[51,57],"flippers":[52],"for":[53,105,111,227],"locomotion":[54],"on":[55,76],"land":[56],"in":[58,154,164],"water,":[59],"respectively.":[60],"Appendages":[61],"that":[62,96,120,169,192],"adjust":[63],"shape":[65],"stiffness":[67],"can":[68],"serve":[69],"specialize":[71],"a":[72,86,102,108,224],"robot's":[73],"demand,":[77],"enabling":[78],"transitions":[79],"between":[80,101],"multiple":[81],"environments.":[82],"Herein,":[83],"we":[84,129,189],"report":[85],"morphing":[87,182,221],"limb":[88,153,163,172,222],"combining":[89],"layer":[90],"jamming":[91,195,206],"pouch-based":[93],"pneumatic":[94],"actuation":[95],"rapidly":[97],"efficiently":[99],"switches":[100],"flipper":[104,165],"swimming":[106],"rigid":[109],"leg":[110,155],"walking/crawling.":[112],"The":[113],"internal":[114],"pouch":[115,145],"actuator":[116],"contributes":[117],"pressure":[119],"jams":[121],"external":[123],"layers":[124,208],"limb,":[127],"which":[128],"refer":[130],"as":[132],"positive":[133,193],"pressure-reinforced":[134,194],"jamming.":[135],"We":[136,167],"quantify":[137],"extent":[139],"shape-morphing":[141],"conferred":[142],"by":[143,201],"actuator,":[146],"maximum":[148],"capability":[150],"mode,":[156],"hydrodynamic":[159],"characteristics":[160],"mode.":[166],"find":[168,191],"new":[171],"boasts":[173],"better":[174],"performance":[175],"than":[176],"previous":[177],"designs":[178],"respect":[180],"shape,":[183],"speed,":[184],"efficiency,":[185],"hydrodynamics.":[187],"Crucially,":[188],"also":[190],"increases":[196],"leg's":[198],"compressive":[199],"strength":[200],"30%":[202],"relative":[203],"just":[205],"via":[209],"negative":[210],"pressure.":[211],"With":[212],"its":[213],"own":[214],"lightweight":[215],"compact":[217],"electronics":[218],"system,":[219],"is":[223],"plug-and-play":[225],"component":[226],"building":[228],"an":[229],"untethered":[230],"multi-environment":[231],"robot.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}