{"id":"https://openalex.org/W3169806649","doi":"https://doi.org/10.1109/tro.2021.3076563","title":"Shake and Take: Fast Transformation of an Origami Gripper","display_name":"Shake and Take: Fast Transformation of an Origami Gripper","publication_year":2021,"publication_date":"2021-05-26","ids":{"openalex":"https://openalex.org/W3169806649","doi":"https://doi.org/10.1109/tro.2021.3076563","mag":"3169806649"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3076563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3076563","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","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/A5081798183","display_name":"Chang Liu","orcid":"https://orcid.org/0000-0001-8189-5667"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chang Liu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8189-5667","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002511217","display_name":"Samuel J. Wohlever","orcid":"https://orcid.org/0000-0002-6244-047X"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel J. Wohlever","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6244-047X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049576173","display_name":"Maria B. Ou","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maria B. Ou","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taskin Padir","raw_affiliation_strings":["Institute for Experiential Robotics, Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5123-5801","affiliations":[{"raw_affiliation_string":"Institute for Experiential Robotics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050229440","display_name":"Samuel M. Felton","orcid":"https://orcid.org/0000-0002-0545-9617"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel M. Felton","raw_affiliation_strings":["Institute for Experiential Robotics, Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0545-9617","affiliations":[{"raw_affiliation_string":"Institute for Experiential Robotics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1272,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.86328335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"38","issue":"1","first_page":"491","last_page":"506"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","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/T11737","display_name":"Advanced Materials and Mechanics","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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9966999888420105,"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/transformation","display_name":"Transformation (genetics)","score":0.6761157512664795},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6672537326812744},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6565335392951965},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5908241271972656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5610557794570923},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5097174048423767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49195596575737},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45945531129837036},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.44080469012260437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33283814787864685},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32711052894592285},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18975046277046204},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09470441937446594},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.0910777747631073}],"concepts":[{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.6761157512664795},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6672537326812744},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6565335392951965},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5908241271972656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5610557794570923},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5097174048423767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49195596575737},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45945531129837036},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.44080469012260437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33283814787864685},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32711052894592285},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18975046277046204},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09470441937446594},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0910777747631073},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3076563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3076563","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322429","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1575369764","https://openalex.org/W1980587781","https://openalex.org/W2007110156","https://openalex.org/W2011251199","https://openalex.org/W2012981196","https://openalex.org/W2036343902","https://openalex.org/W2044418133","https://openalex.org/W2054790322","https://openalex.org/W2055358056","https://openalex.org/W2072629985","https://openalex.org/W2104709595","https://openalex.org/W2118374506","https://openalex.org/W2140316998","https://openalex.org/W2168069209","https://openalex.org/W2273215869","https://openalex.org/W2322287110","https://openalex.org/W2416254177","https://openalex.org/W2563354324","https://openalex.org/W2566774030","https://openalex.org/W2574123479","https://openalex.org/W2585466334","https://openalex.org/W2599474988","https://openalex.org/W2605967184","https://openalex.org/W2752818262","https://openalex.org/W2760117801","https://openalex.org/W2767017019","https://openalex.org/W2773787124","https://openalex.org/W2774989104","https://openalex.org/W2782429449","https://openalex.org/W2791453621","https://openalex.org/W2792903561","https://openalex.org/W2794202852","https://openalex.org/W2794332309","https://openalex.org/W2886550326","https://openalex.org/W2902762157","https://openalex.org/W2906478315","https://openalex.org/W2910173910","https://openalex.org/W2915020202","https://openalex.org/W2970623935","https://openalex.org/W2990329138","https://openalex.org/W3001171827","https://openalex.org/W3090210858","https://openalex.org/W3090404289","https://openalex.org/W3098818746","https://openalex.org/W3101907809","https://openalex.org/W4235630635","https://openalex.org/W6622347782","https://openalex.org/W6773380254","https://openalex.org/W6783504474"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2153432761","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W4387322618"],"abstract_inverted_index":{"Origami":[0],"structures":[1],"can":[2,17,95,126],"transform":[3],"their":[4,13],"form":[5],"and":[6,28,65,70,89,100,134,141],"function":[7],"by":[8],"changing":[9],"the":[10,61,124],"direction":[11],"of":[12,83,87],"folds.":[14],"This":[15],"reconfiguration":[16],"enable":[18],"multifunctional":[19],"robots,":[20],"but":[21],"doing":[22],"so":[23],"requires":[24],"a":[25,52,77,84,108,113],"fast,":[26],"robust,":[27],"repeatable":[29,66],"actuation":[30],"method.":[31],"In":[32],"this":[33],"article,":[34],"we":[35,106],"present":[36],"an":[37],"origami":[38,110],"gripper":[39,111,125],"that":[40,60,80,93,123],"uses":[41],"dynamic":[42],"transformation":[43,62,94],"to":[44,58,76,98,116,138],"change":[45],"its":[46],"kinematic":[47],"behavior":[48],"in":[49],"less":[50],"than":[51],"second.":[53],"We":[54,72],"characterize":[55],"individual":[56],"vertices":[57],"show":[59,122],"is":[63,81],"predictable":[64],"for":[67],"different":[68,131],"designs":[69],"orientations.":[71],"then":[73],"apply":[74],"it":[75],"multivertex":[78],"template":[79],"capable":[82],"wide":[85],"range":[86],"shapes":[88],"motion":[90],"patterns,":[91],"indicating":[92],"be":[96],"generalized":[97],"complex":[99],"functional":[101],"machines.":[102],"To":[103],"demonstrate":[104],"this,":[105],"built":[107],"transforming":[109],"on":[112],"robotic":[114],"arm":[115],"pick":[117],"up":[118],"multiple":[119,143],"objects.":[120],"Demonstrations":[121],"quickly":[127],"reconfigure":[128],"between":[129],"three":[130],"grasping":[132],"modes":[133],"has":[135],"sufficient":[136],"stiffness":[137],"engage":[139],"with":[140,145],"lift":[142],"objects":[144],"distinct":[146],"geometries.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}