{"id":"https://openalex.org/W4408647705","doi":"https://doi.org/10.1126/scirobotics.adq1949","title":"Monopedal robot branch-to-branch leaping and landing inspired by squirrel balance control","display_name":"Monopedal robot branch-to-branch leaping and landing inspired by squirrel balance control","publication_year":2025,"publication_date":"2025-03-19","ids":{"openalex":"https://openalex.org/W4408647705","doi":"https://doi.org/10.1126/scirobotics.adq1949","pmid":"https://pubmed.ncbi.nlm.nih.gov/40106660"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adq1949","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adq1949","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/A5068354203","display_name":"Justin K. Yim","orcid":"https://orcid.org/0000-0002-8593-7032"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Justin K. Yim","raw_affiliation_strings":["Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072431521","display_name":"Eric K. Wang","orcid":"https://orcid.org/0000-0002-9124-7951"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Eric K. Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029070506","display_name":"Sebastian Lee","orcid":"https://orcid.org/0000-0002-3260-2167"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian D. Lee","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022689602","display_name":"Nathaniel H. Hunt","orcid":"https://orcid.org/0000-0001-5257-1698"},"institutions":[{"id":"https://openalex.org/I122266389","display_name":"University of Nebraska at Omaha","ror":"https://ror.org/04yrkc140","country_code":"US","type":"education","lineage":["https://openalex.org/I122266389"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathaniel H. Hunt","raw_affiliation_strings":["Department of Biomechanics, University of Nebraska Omaha, Omaha, NE, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, University of Nebraska Omaha, Omaha, NE, USA","institution_ids":["https://openalex.org/I122266389"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006243281","display_name":"Robert J. Full","orcid":"https://orcid.org/0000-0001-8435-5279"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Full","raw_affiliation_strings":["Department of Integrative Biology, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Integrative Biology, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073886799","display_name":"Ronald S. Fearing","orcid":"https://orcid.org/0000-0001-6242-5379"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ronald S. Fearing","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068354203","https://openalex.org/A5072431521"],"corresponding_institution_ids":["https://openalex.org/I157725225","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":6.5997,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96853842,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"10","issue":"100","first_page":"eadq1949","last_page":"eadq1949"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9923999905586243,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9868000149726868,"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/arboreal-locomotion","display_name":"Arboreal locomotion","score":0.7830641865730286},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6712492108345032},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.6249949932098389},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5911639332771301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5176842212677002},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4907187223434448},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.44660431146621704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43529897928237915},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.4314321279525757},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40272974967956543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35050976276397705},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.22893989086151123},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22481074929237366},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21389800310134888},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18323937058448792},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14457589387893677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12925922870635986},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.11203300952911377},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.08538922667503357},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08429637551307678},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.0626266598701477}],"concepts":[{"id":"https://openalex.org/C82161046","wikidata":"https://www.wikidata.org/wiki/Q767024","display_name":"Arboreal locomotion","level":3,"score":0.7830641865730286},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6712492108345032},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6249949932098389},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5911639332771301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5176842212677002},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4907187223434448},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.44660431146621704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43529897928237915},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.4314321279525757},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40272974967956543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35050976276397705},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.22893989086151123},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22481074929237366},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21389800310134888},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18323937058448792},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14457589387893677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12925922870635986},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.11203300952911377},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.08538922667503357},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08429637551307678},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0626266598701477},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185933670","wikidata":"https://www.wikidata.org/wiki/Q52105","display_name":"Habitat","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adq1949","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adq1949","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:40106660","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40106660","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":48,"referenced_works":["https://openalex.org/W1902370775","https://openalex.org/W1998706374","https://openalex.org/W2005805981","https://openalex.org/W2006198302","https://openalex.org/W2013465274","https://openalex.org/W2021512411","https://openalex.org/W2026498687","https://openalex.org/W2037729465","https://openalex.org/W2048222901","https://openalex.org/W2049751180","https://openalex.org/W2054145244","https://openalex.org/W2061063863","https://openalex.org/W2065576483","https://openalex.org/W2078436852","https://openalex.org/W2084772888","https://openalex.org/W2087326604","https://openalex.org/W2111253117","https://openalex.org/W2130879431","https://openalex.org/W2293073263","https://openalex.org/W2503448910","https://openalex.org/W2529062991","https://openalex.org/W2539534359","https://openalex.org/W2560658338","https://openalex.org/W2561418509","https://openalex.org/W2570283482","https://openalex.org/W2586228764","https://openalex.org/W2738266212","https://openalex.org/W2771691050","https://openalex.org/W2772054799","https://openalex.org/W2789286234","https://openalex.org/W2884226777","https://openalex.org/W2945209971","https://openalex.org/W2954592684","https://openalex.org/W2967571669","https://openalex.org/W3006891653","https://openalex.org/W3011312811","https://openalex.org/W3014246922","https://openalex.org/W3089937392","https://openalex.org/W3104730803","https://openalex.org/W3188968108","https://openalex.org/W3190276978","https://openalex.org/W3205106200","https://openalex.org/W3217370814","https://openalex.org/W4210270825","https://openalex.org/W4297238282","https://openalex.org/W4311317367","https://openalex.org/W4390576726","https://openalex.org/W4407995131"],"related_works":["https://openalex.org/W4386186730","https://openalex.org/W4390479742","https://openalex.org/W2097240936","https://openalex.org/W3197982544","https://openalex.org/W2495261280","https://openalex.org/W2968985559","https://openalex.org/W4318681801","https://openalex.org/W2510926320","https://openalex.org/W4251281889","https://openalex.org/W2753349932"],"abstract_inverted_index":{"Locomotors":[0],"traversing":[1],"arboreal":[2,110],"environments":[3],"must":[4],"often":[5],"leap":[6],"across":[7,167],"large":[8],"gaps":[9],"to":[10,32,45,131,143],"land":[11],"on":[12,36,61],"small-diameter":[13],"supports.":[14,38],"Balancing":[15],"these":[16],"dynamic":[17],"landings":[18,98],"is":[19],"challenging":[20],"because":[21],"of":[22,56,99,155,169,175],"high":[23],"incident":[24],"momentum,":[25],"restricted":[26],"foothold":[27],"options,":[28],"and":[29,165,178],"reduced":[30],"capacity":[31],"produce":[33],"reaction":[34,48],"torques":[35],"narrow":[37],"We":[39,90,112],"hypothesized":[40],"that":[41,114,159],"leg":[42,65],"length":[43],"control":[44,49,118,141],"enhance":[46],"branch":[47],"authority":[50],"would":[51],"markedly":[52],"expand":[53],"the":[54,62,74,97,104,120,128,153,176],"range":[55,154],"successful":[57],"landing":[58,94,150,170],"conditions,":[59,151],"drawing":[60],"same":[63],"powerful":[64],"actuation":[66],"required":[67,130],"for":[68,172],"leaping.":[69],"Exploring":[70],"this":[71,93],"balance":[72,132,140,145],"strategy,":[73],"monopedal":[75],"robot":[76,177],"Salto-1P":[77],"demonstrates":[78],"branch-to-branch":[79],"leaps,":[80],"including":[81],"some":[82],"upright":[83],"balanced":[84,162],"landings,":[85],"despite":[86],"negligible":[87],"grasping":[88,125],"torque.":[89],"also":[91],"compared":[92],"strategy":[95],"with":[96],"squirrels,":[100],"which":[101],"similarly":[102],"lack":[103],"grip":[105],"strength":[106],"found":[107],"in":[108],"other":[109],"species.":[111],"demonstrate":[113],"greater":[115],"radial":[116,138],"force":[117,139],"reduces":[119],"inertial":[121],"body":[122],"torque":[123,126],"and/or":[124],"at":[127],"support":[129],"a":[133],"given":[134],"landing.":[135],"Adding":[136],"simple":[137],"strategies":[142],"conventional":[144],"controllers":[146],"greatly":[147],"expands":[148],"potential":[149],"increasing":[152],"initial":[156],"angular":[157],"momentum":[158],"can":[160],"be":[161],"by":[163],"230":[164],"470%":[166],"ranges":[168],"angles":[171],"low-order":[173],"models":[174],"squirrel,":[179],"respectively.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}