{"id":"https://openalex.org/W2124196154","doi":"https://doi.org/10.1109/robot.2009.5152613","title":"Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture","display_name":"Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2124196154","doi":"https://doi.org/10.1109/robot.2009.5152613","mag":"2124196154"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/142734","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111893123","display_name":"Alexander Sproewitz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Sproewitz","raw_affiliation_strings":["Bio-Inspired Robotics Group (BIRG), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Bio-Inspired Robotics Group (BIRG), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Group (BIRG), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210123353"]},{"raw_affiliation_string":"Bio-Inspired Robotics Group (BIRG), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083821830","display_name":"Pierre Dillenbourg","orcid":"https://orcid.org/0000-0001-9455-5119"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Pierre Dillenbourg","raw_affiliation_strings":["Centre de Recherche et d'Appui pour la Formation (CRAFT), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Centre de Recherche et d 'Appui pour la Formation (CRAFT), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de Recherche et d'Appui pour la Formation (CRAFT), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Centre de Recherche et d 'Appui pour la Formation (CRAFT), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Jan Ijspeert","raw_affiliation_strings":["Bio-Inspired Robotics Group (BIRG), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Bio-Inspired Robotics Group (BIRG), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Group (BIRG), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210123353"]},{"raw_affiliation_string":"Bio-Inspired Robotics Group (BIRG), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4259","last_page":"4264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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":1.0,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9965000152587891,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9869999885559082,"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":0.8061254024505615},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6730023622512817},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6725755929946899},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6292247772216797},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6091883778572083},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.49088531732559204},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.465435653924942},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44513189792633057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41796499490737915},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.41306230425834656},{"id":"https://openalex.org/keywords/disconnection","display_name":"Disconnection","score":0.4120578169822693},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3990761339664459},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3988010287284851},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32776162028312683},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24448788166046143},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23148506879806519},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.1408686339855194},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.12486481666564941},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11316001415252686}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8061254024505615},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6730023622512817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6725755929946899},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6292247772216797},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6091883778572083},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.49088531732559204},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.465435653924942},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44513189792633057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41796499490737915},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.41306230425834656},{"id":"https://openalex.org/C2780371621","wikidata":"https://www.wikidata.org/wiki/Q3709910","display_name":"Disconnection","level":2,"score":0.4120578169822693},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3990761339664459},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3988010287284851},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32776162028312683},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24448788166046143},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23148506879806519},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.1408686339855194},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.12486481666564941},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11316001415252686},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.158.6408","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.158.6408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://birg2.epfl.ch/publications/fulltext/sproewitz_roombots-mechanical_2009.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:142734","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/142734","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:142734","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/142734","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308943","display_name":"Microsoft Research","ror":"https://ror.org/00d0nc645"},{"id":"https://openalex.org/F4320320915","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052"},{"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":19,"referenced_works":["https://openalex.org/W135774663","https://openalex.org/W353956496","https://openalex.org/W1963656947","https://openalex.org/W1980508363","https://openalex.org/W2001685400","https://openalex.org/W2019665943","https://openalex.org/W2037703416","https://openalex.org/W2075011977","https://openalex.org/W2106587277","https://openalex.org/W2106588043","https://openalex.org/W2128026023","https://openalex.org/W2128547140","https://openalex.org/W2137902461","https://openalex.org/W2139699368","https://openalex.org/W2149003305","https://openalex.org/W2159480363","https://openalex.org/W2165379011","https://openalex.org/W2294959121","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W2720417647","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W4225163935","https://openalex.org/W2064761790","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614"],"abstract_inverted_index":{"We":[0,58],"aim":[1],"at":[2],"merging":[3],"technologies":[4],"from":[5],"information":[6],"technology,":[7],"roomware,":[8],"and":[9,16,38,47,51,78,114],"robotics":[10],"in":[11,62],"order":[12],"to":[13],"design":[14,22,109],"adaptive":[15,66],"intelligent":[17],"furniture.":[18],"This":[19],"paper":[20],"presents":[21],"principles":[23],"for":[24,34,143],"our":[25,129],"modular":[26],"robots,":[27],"called":[28],"Roombots,":[29],"as":[30,69,132],"future":[31],"building":[32,141],"blocks":[33,142],"furniture":[35],"that":[36],"moves":[37],"self-reconfigures.":[39],"The":[40],"reconfiguration":[41],"is":[42],"done":[43],"using":[44],"dynamic":[45],"connection":[46,117],"disconnection":[48],"of":[49,53,56,72,110,128,134,140],"modules":[50,113,131],"rotations":[52],"the":[54,107,111,126],"degrees":[55],"freedom.":[57],"are":[59],"furthermore":[60],"interested":[61],"applying":[63],"Roombots":[64,112,130],"towards":[65],"behaviour,":[67],"such":[68],"online":[70],"learning":[71],"locomotion":[73],"patterns.":[74],"To":[75,100],"create":[76],"coordinated":[77],"efficient":[79],"gait":[80],"patterns,":[81],"we":[82,105,124],"use":[83],"a":[84,102,135],"Central":[85],"Pattern":[86],"Generator":[87],"(CPG)":[88],"approach,":[89],"which":[90],"can":[91],"easily":[92],"be":[93],"optimized":[94],"by":[95],"any":[96],"gradient-free":[97],"optimization":[98],"algorithm.":[99],"provide":[101],"hardware":[103],"framework":[104],"present":[106],"mechanical":[108],"an":[115],"active":[116],"mechanism":[118],"based":[119],"on":[120],"physical":[121],"latches.":[122],"Further":[123],"discuss":[125],"application":[127],"pieces":[133],"homogenic":[136],"or":[137],"heterogenic":[138],"mix":[139],"static":[144],"structures.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
