{"id":"https://openalex.org/W2903854300","doi":"https://doi.org/10.1126/scirobotics.aau7557","title":"Chasing biomimetic locomotion speeds: Creating untethered soft robots with shape memory alloy actuators","display_name":"Chasing biomimetic locomotion speeds: Creating untethered soft robots with shape memory alloy actuators","publication_year":2018,"publication_date":"2018-12-19","ids":{"openalex":"https://openalex.org/W2903854300","doi":"https://doi.org/10.1126/scirobotics.aau7557","mag":"2903854300","pmid":"https://pubmed.ncbi.nlm.nih.gov/33141693"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aau7557","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aau7557","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"review","indexed_in":["crossref","pubmed"],"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/A5000690549","display_name":"Xiaonan Huang","orcid":"https://orcid.org/0000-0002-2313-1551"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaonan Huang","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"raw_orcid":"https://orcid.org/0000-0002-2313-1551","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055916668","display_name":"Kitty Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kitty Kumar","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055368146","display_name":"Mohammad Khalid Jawed","orcid":"https://orcid.org/0000-0003-4661-1408"},"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"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad K. Jawed","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA"],"raw_orcid":"https://orcid.org/0000-0003-4661-1408","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024885979","display_name":"Amir Mohammadi Nasab","orcid":"https://orcid.org/0000-0003-4371-4516"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amir M. Nasab","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV 89557, USA"],"raw_orcid":"https://orcid.org/0000-0003-4371-4516","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV 89557, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091882241","display_name":"Zisheng Ye","orcid":"https://orcid.org/0000-0001-6675-9747"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zisheng Ye","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"raw_orcid":"https://orcid.org/0000-0001-6675-9747","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014447128","display_name":"Wanliang Shan","orcid":"https://orcid.org/0000-0003-1761-8213"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wanliang Shan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV 89557, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV 89557, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050506400","display_name":"Carmel Majidi","orcid":"https://orcid.org/0000-0002-6469-9645"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Carmel Majidi","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5050506400"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.7946,"has_fulltext":false,"cited_by_count":187,"citation_normalized_percentile":{"value":0.96956407,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"3","issue":"25","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9980000257492065,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8316159248352051},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7808998227119446},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.7264324426651001},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.527864396572113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5015079975128174},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.452388733625412},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4272025525569916},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38590022921562195},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37758302688598633},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37232357263565063},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.363170325756073},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35528630018234253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28297749161720276},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.19182246923446655}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8316159248352051},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7808998227119446},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.7264324426651001},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.527864396572113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5015079975128174},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.452388733625412},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4272025525569916},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38590022921562195},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37758302688598633},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37232357263565063},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.363170325756073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35528630018234253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28297749161720276},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.19182246923446655}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.aau7557","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aau7557","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33141693","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33141693","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G467463555","display_name":null,"funder_award_id":"W911NF-16-1-0148","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7448559913","display_name":null,"funder_award_id":"NNX14AO49G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1608215728","https://openalex.org/W2010745100","https://openalex.org/W2059382954","https://openalex.org/W2141905643","https://openalex.org/W2155890128","https://openalex.org/W2163566443","https://openalex.org/W2164636472","https://openalex.org/W2564130887","https://openalex.org/W2587813168","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W569866225","https://openalex.org/W4317821343","https://openalex.org/W2900265245","https://openalex.org/W2056723064","https://openalex.org/W4248728923","https://openalex.org/W2012995867","https://openalex.org/W607830317","https://openalex.org/W2039163447","https://openalex.org/W3161089714","https://openalex.org/W4312732386"],"abstract_inverted_index":{"By":[0],"using":[1],"compliant":[2],"lightweight":[3],"actuators":[4],"with":[5],"shape":[6],"memory":[7],"alloy,":[8],"we":[9],"created":[10],"untethered":[11],"soft":[12],"robots":[13],"that":[14],"are":[15],"capable":[16],"of":[17],"dynamic":[18],"locomotion":[19],"at":[20],"biologically":[21],"relevant":[22],"speeds.":[23]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":41},{"year":2022,"cited_by_count":37},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
