{"id":"https://openalex.org/W4407948815","doi":"https://doi.org/10.1126/scirobotics.adp6419","title":"Robotic locomotion through active and passive morphological adaptation in extreme outdoor environments","display_name":"Robotic locomotion through active and passive morphological adaptation in extreme outdoor environments","publication_year":2025,"publication_date":"2025-02-26","ids":{"openalex":"https://openalex.org/W4407948815","doi":"https://doi.org/10.1126/scirobotics.adp6419","pmid":"https://pubmed.ncbi.nlm.nih.gov/40009657"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adp6419","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adp6419","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":"article","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/A5031856125","display_name":"Max Polzin","orcid":"https://orcid.org/0000-0003-2891-1933"},"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":true,"raw_author_name":"Max Polzin","raw_affiliation_strings":["CREATE Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088342433","display_name":"Qinghua Guan","orcid":"https://orcid.org/0000-0001-5438-9232"},"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":"Qinghua Guan","raw_affiliation_strings":["CREATE Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"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":"Josie Hughes","raw_affiliation_strings":["CREATE Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031856125"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":15.3725,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.99480651,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"10","issue":"99","first_page":"eadp6419","last_page":"eadp6419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9976999759674072,"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/robot","display_name":"Robot","score":0.7666655778884888},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6952117681503296},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6559559106826782},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.655863344669342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5954424738883972},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5011463165283203},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47549116611480713},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4522375464439392},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.44499412178993225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4128248691558838},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3943396806716919},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3451434373855591},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24234411120414734},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.1652263104915619},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1460261046886444},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10522076487541199}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7666655778884888},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6952117681503296},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6559559106826782},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.655863344669342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5954424738883972},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5011463165283203},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47549116611480713},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4522375464439392},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.44499412178993225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4128248691558838},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3943396806716919},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3451434373855591},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24234411120414734},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.1652263104915619},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1460261046886444},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10522076487541199},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adp6419","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adp6419","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:40009657","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40009657","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W1749494163","https://openalex.org/W1967823537","https://openalex.org/W1990291852","https://openalex.org/W1991089195","https://openalex.org/W2032380847","https://openalex.org/W2037372350","https://openalex.org/W2040257637","https://openalex.org/W2072931689","https://openalex.org/W2079574144","https://openalex.org/W2083858756","https://openalex.org/W2112172153","https://openalex.org/W2116054567","https://openalex.org/W2117211893","https://openalex.org/W2122750542","https://openalex.org/W2129287493","https://openalex.org/W2146935528","https://openalex.org/W2154812648","https://openalex.org/W2268948894","https://openalex.org/W2296267969","https://openalex.org/W2589117701","https://openalex.org/W2607934962","https://openalex.org/W2736316887","https://openalex.org/W2736870873","https://openalex.org/W2755163439","https://openalex.org/W2789142885","https://openalex.org/W2899318310","https://openalex.org/W2922124478","https://openalex.org/W2965215408","https://openalex.org/W3007469703","https://openalex.org/W3010844811","https://openalex.org/W3020957857","https://openalex.org/W3046217486","https://openalex.org/W3087504778","https://openalex.org/W3093922502","https://openalex.org/W3102911268","https://openalex.org/W3104876774","https://openalex.org/W3119648573","https://openalex.org/W3133018151","https://openalex.org/W3176894072","https://openalex.org/W3209955306","https://openalex.org/W4205430897","https://openalex.org/W4210460121","https://openalex.org/W4244367163","https://openalex.org/W4250058668","https://openalex.org/W4253950310","https://openalex.org/W4280549381","https://openalex.org/W4280571816","https://openalex.org/W4285277024","https://openalex.org/W4296162931","https://openalex.org/W4297998003","https://openalex.org/W4304698290","https://openalex.org/W4309481253","https://openalex.org/W4313030977","https://openalex.org/W4313444276","https://openalex.org/W4317397265","https://openalex.org/W4375798311","https://openalex.org/W4378802705","https://openalex.org/W4380367890","https://openalex.org/W4382344551","https://openalex.org/W4383899472","https://openalex.org/W4385325374","https://openalex.org/W4385693556","https://openalex.org/W4387097881","https://openalex.org/W4390577832","https://openalex.org/W4391108008","https://openalex.org/W4399830513"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"Robotic":[0],"locomotion":[1,97,105,176,186],"has":[2],"shown":[3,14],"substantial":[4],"advancements,":[5],"yet":[6],"robots":[7,35,71,108,205,218],"still":[8],"lack":[9],"the":[10,89,173,199],"versatility":[11],"and":[12,48,95,119,146,154,196,203,212,242],"agility":[13],"by":[15,106],"animals":[16],"navigating":[17],"complex":[18,25,156],"terrains.":[19],"This":[20],"limits":[21],"their":[22,49,74,113,116,121,222],"applicability":[23],"in":[24,67,126,184,206,233],"environments":[26],"where":[27],"they":[28],"could":[29,224],"be":[30],"highly":[31],"beneficial.":[32],"Unlike":[33],"existing":[34],"that":[36,109],"rely":[37],"on":[38],"intricate":[39],"perception":[40],"systems":[41],"to":[42,57,62,82,102,123,142,166,188,239],"construct":[43],"models":[44],"of":[45,91,208,220],"both":[46],"themselves":[47],"surroundings,":[50],"a":[51,59,133,140,190],"more":[52],"bioinspired":[53],"approach":[54],"leverages":[55],"reconfiguration":[56,78,138],"adapt":[58,167],"robot's":[60],"morphology":[61,165,223],"its":[63,164,182],"environment.":[64],"Although":[65],"interest":[66],"such":[68],"multimodal,":[69],"terrain-adaptive":[70],"is":[72],"increasing,":[73],"capacity":[75],"for":[76,170],"morphological":[77,137],"often":[79],"remains":[80],"confined":[81],"specific":[83],"body":[84],"parts":[85],"or":[86],"comes":[87],"at":[88],"expense":[90],"increased":[92],"system":[93],"complexity":[94],"reduced":[96],"efficiency.":[98],"Our":[99],"study":[100],"seeks":[101],"enhance":[103,226],"robotic":[104],"developing":[107],"can":[110],"actively":[111,162],"reconfigure":[112],"morphology,":[114],"altering":[115],"physical":[117,168],"properties":[118,169],"leveraging":[120],"adaptability":[122,183],"navigate":[124,189],"efficiently":[125],"diverse":[127,179],"environments.":[128,180],"We":[129],"demonstrate":[130],"how":[131],"combining":[132],"compliant":[134,171,217],"structure":[135],"with":[136,158],"allowed":[139],"robot":[141,174,200],"transition":[143],"between":[144],"flat":[145],"spherical":[147],"forms,":[148],"enabling":[149],"autonomous,":[150],"multimodal":[151,204],"locomotion-driving,":[152],"rolling,":[153],"swimming-across":[155],"terrains":[157],"minimal":[159],"sensing.":[160],"By":[161],"reconfiguring":[163,221],"interactions,":[172],"enhanced":[175],"across":[177,193],"rough,":[178],"Leveraging":[181],"different":[185],"modes":[187],"4.5-kilometer":[191],"path":[192],"mountainous,":[194],"aquatic,":[195],"urban":[197],"terrains,":[198],"outperformed":[201],"traditional":[202],"terms":[207],"versatility,":[209],"energy":[210],"efficiency,":[211],"robustness.":[213],"Developing":[214],"versatile,":[215],"energy-efficient,":[216],"capable":[219],"substantially":[225],"autonomous":[227],"navigation,":[228],"opening":[229],"up":[230],"broader":[231],"applications":[232],"unstructured":[234],"environments,":[235],"from":[236],"environmental":[237],"monitoring":[238],"disaster":[240],"response":[241],"extraterrestrial":[243],"exploration.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":11}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}