{"id":"https://openalex.org/W7162792222","doi":"https://doi.org/10.48550/arxiv.2605.29389","title":"Automated design of soft-rigid hybrid robots for dynamic locomotion","display_name":"Automated design of soft-rigid hybrid robots for dynamic locomotion","publication_year":2026,"publication_date":"2026-05-28","ids":{"openalex":"https://openalex.org/W7162792222","doi":"https://doi.org/10.48550/arxiv.2605.29389"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.29389","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.29389","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.29389","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137361872","display_name":"Hiroki Kobayashi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kobayashi, Hiroki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029004766","display_name":"Yuki Takaha","orcid":"https://orcid.org/0000-0001-8826-0015"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takaha, Yuki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029505709","display_name":"Changyoung Yuhn","orcid":"https://orcid.org/0000-0002-1758-0043"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuhn, Changyoung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137352434","display_name":"Yuki Sato","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sato, Yuki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059865900","display_name":"Sunao TOMITA","orcid":"https://orcid.org/0000-0001-7607-3028"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tomita, Sunao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137325559","display_name":"Atsushi Kawamoto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kawamoto, Atsushi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5078662057","display_name":"Tsuyoshi Nomura","orcid":"https://orcid.org/0000-0002-7055-6675"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nomura, Tsuyoshi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"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":0.9162999987602234,"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":0.9162999987602234,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.029600000008940697,"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":0.014700000174343586,"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/flexibility","display_name":"Flexibility (engineering)","score":0.6794999837875366},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6265000104904175},{"id":"https://openalex.org/keywords/truss","display_name":"Truss","score":0.483599990606308},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.47780001163482666},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.44279998540878296},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4341999888420105},{"id":"https://openalex.org/keywords/orthotics","display_name":"Orthotics","score":0.3971000015735626},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.36820000410079956},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.3637999892234802}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6794999837875366},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6265000104904175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5569999814033508},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.483599990606308},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.47780001163482666},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.44279998540878296},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4341999888420105},{"id":"https://openalex.org/C2776462017","wikidata":"https://www.wikidata.org/wiki/Q59744853","display_name":"Orthotics","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37959998846054077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3779999911785126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37720000743865967},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.36820000410079956},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.34769999980926514},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.326200008392334},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.322299987077713},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.3221000134944916},{"id":"https://openalex.org/C104286136","wikidata":"https://www.wikidata.org/wiki/Q1416137","display_name":"Modal analysis","level":3,"score":0.30489999055862427},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.30329999327659607},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3001999855041504},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28630000352859497},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.27889999747276306},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.26260000467300415},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2615000009536743}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.29389","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.29389","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.29389","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.29389","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Rigid-bodied":[0],"robots":[1],"often":[2],"lack":[3],"compliance":[4],"needed":[5],"to":[6,8,96],"adapt":[7],"unstructured":[9],"environments,":[10],"while":[11],"fully":[12],"soft":[13,36,98],"robots,":[14],"though":[15],"highly":[16],"adaptable,":[17],"struggle":[18],"with":[19,76],"scalability":[20],"and":[21,30,35,61,105],"load":[22],"capacity.":[23],"In":[24],"nature,":[25],"musculoskeletal":[26],"systems":[27],"balance":[28],"strength":[29],"flexibility":[31],"by":[32,39,118],"integrating":[33],"hard":[34],"tissues.":[37],"Inspired":[38],"this":[40],"principle,":[41],"we":[42],"present":[43],"an":[44],"automated":[45],"design":[46,104],"method":[47,71],"for":[48,73,81],"soft-rigid":[49],"hybrids":[50],"that":[51,92,132,142],"optimizes":[52],"a":[53,57,109],"freeform":[54],"soft-body":[55],"shape,":[56],"stiff":[58],"truss":[59,82,90],"layout,":[60],"multi-channel":[62],"actuation.":[63],"Our":[64],"differentiable":[65],"simulator":[66],"couples":[67],"the":[68,97,102,114,119,126,133,139],"material":[69],"point":[70],"(MPM)":[72],"deformable":[74],"bodies":[75],"extended":[77],"position-based":[78],"dynamics":[79],"(XPBD)":[80],"elements,":[83],"enabling":[84],"gradient-based":[85],"search.":[86],"The":[87],"optimization":[88],"generates":[89],"skeletons":[91],"transmit":[93],"actuation":[94,140],"forces":[95],"body.":[99],"We":[100],"fabricate":[101],"optimized":[103],"evaluate":[106],"it":[107],"on":[108],"walking":[110,115],"task.":[111],"Experiments":[112],"reproduce":[113],"mode":[116],"predicted":[117],"optimization,":[120],"which":[121],"does":[122],"not":[123],"emerge":[124],"without":[125],"skeleton.":[127],"Modal":[128],"analysis":[129],"further":[130],"suggests":[131],"skeleton":[134],"enables":[135],"deformation":[136],"modes":[137],"near":[138],"frequency":[141],"promote":[143],"effective":[144],"stride":[145],"generation.":[146]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-30T00:00:00"}