{"id":"https://openalex.org/W2971672377","doi":"https://doi.org/10.1145/3332165.3347911","title":"ShapeBots: Shape-changing Swarm Robots","display_name":"ShapeBots: Shape-changing Swarm Robots","publication_year":2019,"publication_date":"2019-10-17","ids":{"openalex":"https://openalex.org/W2971672377","doi":"https://doi.org/10.1145/3332165.3347911","mag":"2971672377"},"language":"en","primary_location":{"id":"doi:10.1145/3332165.3347911","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3332165.3347911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.03372","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Ryo Suzuki","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryo Suzuki","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Clement Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Clement Zheng","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yasuaki Kakehi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuaki Kakehi","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tom Yeh","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom Yeh","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ellen Yi-Luen Do","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ellen Yi-Luen Do","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mark D. Gross","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark D. Gross","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":null,"display_name":"Daniel Leithinger","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Leithinger","raw_affiliation_strings":["University of Colorado, Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado, Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.1935,"has_fulltext":false,"cited_by_count":127,"citation_normalized_percentile":{"value":0.98801404,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"493","last_page":"505"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9952999949455261,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7795000076293945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7243000268936157},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6761000156402588},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6700999736785889},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.642799973487854},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5218999981880188}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7795000076293945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7243000268936157},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6761000156402588},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6700999736785889},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.642799973487854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6230999827384949},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5218999981880188},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4805999994277954},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4154999852180481},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3986999988555908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37279999256134033},{"id":"https://openalex.org/C44832474","wikidata":"https://www.wikidata.org/wiki/Q4770870","display_name":"Ant robotics","level":5,"score":0.3260999917984009},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.320499986410141},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.2824000120162964},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27219998836517334},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2581999897956848},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2581999897956848},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2558000087738037}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3332165.3347911","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3332165.3347911","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1909.03372","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.03372","pdf_url":"https://arxiv.org/pdf/1909.03372","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.03372","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.03372","pdf_url":"https://arxiv.org/pdf/1909.03372","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1964278234","https://openalex.org/W1967033510","https://openalex.org/W1990259408","https://openalex.org/W1991612274","https://openalex.org/W1994349244","https://openalex.org/W1995142048","https://openalex.org/W2014192044","https://openalex.org/W2028187927","https://openalex.org/W2029055514","https://openalex.org/W2076171213","https://openalex.org/W2079512759","https://openalex.org/W2089198411","https://openalex.org/W2094690640","https://openalex.org/W2096625858","https://openalex.org/W2101686789","https://openalex.org/W2102848110","https://openalex.org/W2103991771","https://openalex.org/W2112374856","https://openalex.org/W2113331157","https://openalex.org/W2128026023","https://openalex.org/W2130117351","https://openalex.org/W2142943472","https://openalex.org/W2149841830","https://openalex.org/W2150576841","https://openalex.org/W2152737814","https://openalex.org/W2158804691","https://openalex.org/W2171560124","https://openalex.org/W2180414786","https://openalex.org/W2277913520","https://openalex.org/W2294959121","https://openalex.org/W2302708470","https://openalex.org/W2507517175","https://openalex.org/W2533619018","https://openalex.org/W2536738366","https://openalex.org/W2537074996","https://openalex.org/W2571445476","https://openalex.org/W2577675456","https://openalex.org/W2610483525","https://openalex.org/W2738152005","https://openalex.org/W2747090535","https://openalex.org/W2754990119","https://openalex.org/W2762517015","https://openalex.org/W2766856738","https://openalex.org/W2772961628","https://openalex.org/W2783854900","https://openalex.org/W2795580332","https://openalex.org/W2807785345","https://openalex.org/W2816703953","https://openalex.org/W2888001458","https://openalex.org/W2891756585","https://openalex.org/W2896945552","https://openalex.org/W2897263022","https://openalex.org/W2900509128","https://openalex.org/W2941288941","https://openalex.org/W2950197782"],"related_works":[],"abstract_inverted_index":{"We":[0,83],"introduce":[1],"shape-changing":[2,39,105],"swarm":[3,6,40],"robots.":[4,41],"A":[5],"of":[7,38,73,81,93,101],"self-transformable":[8],"robots":[9],"can":[10,44],"both":[11,65],"individually":[12],"and":[13,29,58,67,79,88,103],"collectively":[14],"change":[15,45],"their":[16],"configuration":[17],"to":[18,62],"display":[19],"information,":[20],"actuate":[21],"objects,":[22],"act":[23],"as":[24],"tangible":[25],"controllers,":[26],"visualize":[27],"data,":[28],"provide":[30],"physical":[31],"affordances.":[32],"ShapeBots":[33],"is":[34],"a":[35],"concept":[36],"prototype":[37],"Each":[42],"robot":[43],"its":[46],"shape":[47],"by":[48],"leveraging":[49],"small":[50],"linear":[51],"actuators":[52],"that":[53],"are":[54],"thin":[55],"(2.5":[56],"cm)":[57],"highly":[59],"extendable":[60],"(up":[61],"20cm)":[63],"in":[64],"horizontal":[66],"vertical":[68],"directions.":[69],"The":[70],"modular":[71],"design":[72],"each":[74],"actuator":[75],"enables":[76],"various":[77],"shapes":[78],"geometries":[80],"self-transformation.":[82],"illustrate":[84],"potential":[85],"application":[86],"scenarios":[87],"discuss":[89],"how":[90],"this":[91],"type":[92],"interface":[94],"opens":[95],"up":[96],"possibilities":[97],"for":[98],"the":[99],"future":[100],"ubiquitous":[102],"distributed":[104],"interfaces.":[106]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":39},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2019-09-12T00:00:00"}
