{"id":"https://openalex.org/W3201265861","doi":"https://doi.org/10.1109/tro.2021.3106830","title":"A Self-Reconfigurable Variable-Stiffness Soft Robot Based on Boundary-Constrained Modular Units","display_name":"A Self-Reconfigurable Variable-Stiffness Soft Robot Based on Boundary-Constrained Modular Units","publication_year":2021,"publication_date":"2021-09-20","ids":{"openalex":"https://openalex.org/W3201265861","doi":"https://doi.org/10.1109/tro.2021.3106830","mag":"3201265861"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3106830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3106830","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/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":["Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-1588-5484","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021156637","display_name":"Vahid Alizadehyazdi","orcid":"https://orcid.org/0000-0001-9561-2007"},"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":"Vahid Alizadehyazdi","raw_affiliation_strings":["James Franck Institute, The University of Chicago, Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-9561-2007","affiliations":[{"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/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"],"raw_orcid":null,"affiliations":[{"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":["Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-6483-5339","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0954,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.86057655,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"38","issue":"2","first_page":"810","last_page":"821"},"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/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/T11486","display_name":"Micro and Nano Robotics","score":0.996999979019165,"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":0.7666206955909729},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6837608814239502},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5264409780502319},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.492584764957428},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44123610854148865},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4400354325771332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38745763897895813},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3506024479866028},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3339967131614685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21843338012695312}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7666206955909729},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6837608814239502},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5264409780502319},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.492584764957428},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44123610854148865},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4400354325771332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38745763897895813},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3506024479866028},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3339967131614685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21843338012695312},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3106830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3106830","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6200000047683716}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1973565005","https://openalex.org/W2029744358","https://openalex.org/W2064736763","https://openalex.org/W2070099904","https://openalex.org/W2096296143","https://openalex.org/W2103117443","https://openalex.org/W2139699368","https://openalex.org/W2149841830","https://openalex.org/W2158001945","https://openalex.org/W2159341149","https://openalex.org/W2259942851","https://openalex.org/W2337157527","https://openalex.org/W2478676557","https://openalex.org/W2515930553","https://openalex.org/W2560476919","https://openalex.org/W2565233142","https://openalex.org/W2567273230","https://openalex.org/W2576531615","https://openalex.org/W2577404187","https://openalex.org/W2615120398","https://openalex.org/W2626297971","https://openalex.org/W2790084889","https://openalex.org/W2793128170","https://openalex.org/W2889529934","https://openalex.org/W2940676844","https://openalex.org/W2964529391","https://openalex.org/W2967066431","https://openalex.org/W2991460789","https://openalex.org/W3010020125","https://openalex.org/W3015155535","https://openalex.org/W3015665751","https://openalex.org/W3036002100","https://openalex.org/W3036038141","https://openalex.org/W3036653537","https://openalex.org/W3048349632","https://openalex.org/W6721500380"],"related_works":["https://openalex.org/W2772209245","https://openalex.org/W2062648030","https://openalex.org/W4384786899","https://openalex.org/W2110474838","https://openalex.org/W2626401248","https://openalex.org/W4236945527","https://openalex.org/W2404365202","https://openalex.org/W2114428766","https://openalex.org/W1988422995","https://openalex.org/W3090267060"],"abstract_inverted_index":{"This":[0,81],"article":[1,82],"describes":[2,83],"a":[3,16,22,38,53,62,136],"soft":[4,39],"robot":[5,13,33,40,55],"based":[6],"onboundary":[7],"constrained":[8],"modular":[9,25],"subunits.":[10],"The":[11,32,64,123],"loop-shaped":[12],"consists":[14],"of":[15,24,117],"granule-filled":[17],"elastic":[18],"toroidal":[19],"membrane":[20],"with":[21,134],"series":[23],"subunit":[26],"robots":[27],"attached":[28],"to":[29,41,43,95,119],"its":[30,58],"exterior.":[31],"can":[34],"operate":[35],"both":[36],"as":[37,52],"conform":[42],"external":[44],"objects":[45],"or":[46,78],"navigate":[47,96],"through":[48,132],"narrow":[49,97],"corridors":[50],"and":[51,93,109,126],"rigid":[54],"by":[56],"jamming":[57],"internal":[59],"granules":[60],"using":[61],"vacuum.":[63],"jammed":[65],"state":[66],"is":[67],"useful":[68],"for":[69,107],"exerting":[70],"forces":[71],"on":[72],"the":[73,84,115,127],"environment":[74],"in":[75],"object":[76,87],"manipulation":[77],"locomotion":[79],"tasks.":[80],"robot\u2019s":[85,124],"design,":[86],"handling":[88],"capabilities,":[89],"locomotion,":[90],"shape":[91],"formation,":[92],"ability":[94],"corridors.":[98],"We":[99],"also":[100],"present":[101],"computationally":[102],"efficient":[103],"control":[104,128],"methodologies":[105,129],"used":[106],"self-reconfiguration":[108],"target":[110],"tracking,":[111],"which":[112],"enable":[113],"scaling":[114],"number":[116],"subunits":[118],"create":[120],"larger":[121],"systems.":[122],"scalability":[125],"are":[130,144],"verified":[131],"simulation":[133,139],"ProjectChrono,":[135],"multibody":[137],"dynamic":[138],"platform.":[140],"All":[141],"other":[142],"results":[143],"obtained":[145],"experimentally.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}