{"id":"https://openalex.org/W2805189301","doi":"https://doi.org/10.1177/0278364918772023","title":"Animatronic soft robots by additive folding","display_name":"Animatronic soft robots by additive folding","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2805189301","doi":"https://doi.org/10.1177/0278364918772023","mag":"2805189301"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918772023","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918772023","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.whiterose.ac.uk/id/eprint/148870/1/IJRR_final_harvard.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061725751","display_name":"Solomon C. Yim","orcid":"https://orcid.org/0000-0003-3368-9994"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"S Yim","raw_affiliation_strings":["Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, S. Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent & Interactive Robotics Research, Korea Institute of Science and Technology, S. Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011962400","display_name":"Cynthia Sung","orcid":"https://orcid.org/0000-0002-8967-1841"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C Sung","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, USA"],"raw_orcid":"https://orcid.org/0000-0002-8967-1841","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068673040","display_name":"Shuhei Miyashita","orcid":"https://orcid.org/0000-0002-9795-9247"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S Miyashita","raw_affiliation_strings":["Department of Electronic Engineering, University of York, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, University of York, UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000450841","display_name":"D. Rus","orcid":null},"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":false,"raw_author_name":"D Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101586172","display_name":"Sarang Kim","orcid":"https://orcid.org/0000-0001-9550-1673"},"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":false,"raw_author_name":"S Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061725751"],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":0.6493,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.66353399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"37","issue":"6","first_page":"611","last_page":"628"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"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/robot","display_name":"Robot","score":0.7188290357589722},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.6890639662742615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5815913677215576},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5705182552337646},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.546557605266571},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.49673134088516235},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4728686511516571},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4269484281539917},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4258519113063812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36334019899368286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3077280521392822},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29280656576156616},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10866954922676086}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7188290357589722},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.6890639662742615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5815913677215576},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5705182552337646},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.546557605266571},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.49673134088516235},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4728686511516571},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4269484281539917},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4258519113063812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36334019899368286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3077280521392822},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29280656576156616},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10866954922676086},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364918772023","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918772023","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:148870","is_oa":true,"landing_page_url":"https://orcid.org/0000-0002-9795-9247>","pdf_url":"https://eprints.whiterose.ac.uk/id/eprint/148870/1/IJRR_final_harvard.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"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":"Article"}],"best_oa_location":{"id":"pmh:oai:eprints.whiterose.ac.uk:148870","is_oa":true,"landing_page_url":"https://orcid.org/0000-0002-9795-9247>","pdf_url":"https://eprints.whiterose.ac.uk/id/eprint/148870/1/IJRR_final_harvard.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"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":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1907534956","display_name":null,"funder_award_id":"1240383 and 1138967","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2966602959","display_name":"EFRI-ODISSEI: Programmable Origami for Integration of Self-assembling Systems in Engineered Structures","funder_award_id":"1240383","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5308745493","display_name":"Collaborative Research: An Expedition in Computing for Compiling Printable Programmable Machines","funder_award_id":"1138967","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8593240444","display_name":null,"funder_award_id":"2E27200","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2805189301.pdf","grobid_xml":"https://content.openalex.org/works/W2805189301.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W595126354","https://openalex.org/W603961186","https://openalex.org/W1515749184","https://openalex.org/W1575924372","https://openalex.org/W1578944408","https://openalex.org/W1826486644","https://openalex.org/W1962898515","https://openalex.org/W1980587781","https://openalex.org/W1984025219","https://openalex.org/W2005200966","https://openalex.org/W2007453190","https://openalex.org/W2007904825","https://openalex.org/W2007924815","https://openalex.org/W2025338486","https://openalex.org/W2025613329","https://openalex.org/W2033037313","https://openalex.org/W2033637395","https://openalex.org/W2040602726","https://openalex.org/W2043003144","https://openalex.org/W2047947115","https://openalex.org/W2048644480","https://openalex.org/W2052247655","https://openalex.org/W2059772445","https://openalex.org/W2065406009","https://openalex.org/W2082036447","https://openalex.org/W2094630803","https://openalex.org/W2102838235","https://openalex.org/W2107596955","https://openalex.org/W2113843635","https://openalex.org/W2121899951","https://openalex.org/W2146533264","https://openalex.org/W2155943302","https://openalex.org/W2162638154","https://openalex.org/W2163566443","https://openalex.org/W2167024178","https://openalex.org/W2168341643","https://openalex.org/W2171005488","https://openalex.org/W2191730565","https://openalex.org/W2218190479","https://openalex.org/W2286363733","https://openalex.org/W2286771936","https://openalex.org/W2292738316","https://openalex.org/W2294959121","https://openalex.org/W2296203100","https://openalex.org/W2303635858","https://openalex.org/W2346996780","https://openalex.org/W2580346677","https://openalex.org/W2738599915","https://openalex.org/W2748134142","https://openalex.org/W3011577275","https://openalex.org/W4234561344","https://openalex.org/W4247265502","https://openalex.org/W4249314718","https://openalex.org/W4249678223"],"related_works":["https://openalex.org/W2373084372","https://openalex.org/W2002367660","https://openalex.org/W2764185008","https://openalex.org/W2161630834","https://openalex.org/W1989123995","https://openalex.org/W2391131871","https://openalex.org/W2359063585","https://openalex.org/W4385439013","https://openalex.org/W3174580583","https://openalex.org/W4296449477"],"abstract_inverted_index":{"This":[0,101],"paper":[1,102],"presents":[2],"a":[3,12,38,64,74,82,92],"new":[4],"class":[5],"of":[6,47,86,117],"animatronic":[7,58,112],"soft":[8,59],"robots":[9],"created":[10],"by":[11,27,31,52],"desktop":[13,118],"fabrication":[14,119],"mechanism":[15],"called":[16],"additive":[17],"folding.":[18],"In":[19],"this":[20],"method,":[21],"two-dimensional":[22],"(2D)":[23],"slices":[24,49],"are":[25],"threaded":[26],"multiple":[28],"strings,":[29,54],"accordion-folded":[30],"flexure":[32],"hinges":[33],"and":[34,67,89,98,109,121,127],"finally":[35],"stacked":[36],"into":[37],"predefined":[39],"three-dimensional":[40],"(3D)":[41],"structure.":[42],"As":[43],"the":[44,48,87,104,115],"3D":[45,84],"assembly":[46],"is":[50],"controlled":[51],"embedded":[53],"it":[55],"becomes":[56],"an":[57],"robot":[60,106],"that":[61,68,78,90],"moves":[62],"like":[63],"biological":[65],"creature":[66],"shows":[69],"life-like":[70],"movements.":[71],"We":[72],"create":[73],"computational":[75],"design":[76,107],"algorithm":[77],"takes":[79],"as":[80],"input":[81],"desired":[83],"geometry":[85],"robot,":[88],"produces":[91],"2D":[93],"surface":[94],"with":[95],"built-in":[96],"folds":[97],"string-based":[99],"actuators.":[100],"describes":[103],"entire":[105],"process":[108],"demonstrates":[110],"various":[111],"motions,":[113],"highlighting":[114],"vision":[116],"technology":[120],"its":[122],"potential":[123],"applications":[124],"in":[125],"animatronics":[126],"robotic":[128],"art.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
