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However, prior approaches often optimize a robot's propulsor shape, stiffness, and gait to minimize the cost of transport in distinct domains while neglecting the energy required to achieve these shape and stiffness changes at domain interfaces. Additionally, many shape\u2010morphing robots rely on thermally driven materials that couple shape and stiffness changes to environmental temperatures, limiting their applicability in real\u2010world multidomain scenarios. This work introduces the Jamming Amphibious Robotic Turtle (JART), which employs pressure\u2010responsive, topologically altered kirigami laminar jamming to transform its limbs between hydrodynamic flippers and load\u2010bearing legs. Energetic analyses reveal that JART achieves a 98.5% reduction in the energetic cost of morphing compared to thermally driven predecessors. Its pressure\u2010responsive morphing mechanism also enables temperature\u2010independent energy expenditures when morphing, rapid stiffness switching, decoupled control of stiffness and shape, and robust postloading shape recovery. System\u2010level evaluations highlight JART's ability to efficiently transition between domains, demonstrated through a continuous terrestrial\u2013aquatic\u2013terrestrial transition at an ocean inlet. This study provides valuable insights into the design of deployable, multidomain robots, advancing their potential for real\u2010world applications.<\/jats:p>","DOI":"10.1002\/aisy.202401055","type":"journal-article","created":{"date-parts":[[2025,4,16]],"date-time":"2025-04-16T01:21:53Z","timestamp":1744766513000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Decreasing the Cost of Morphing in Adaptive Morphogenetic Robots"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-9315-200X","authenticated-orcid":false,"given":"Luis A.","family":"Ramirez","sequence":"first","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University  9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Robert","family":"Baines","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University  9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bilige","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University  9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2324-8124","authenticated-orcid":false,"given":"Rebecca","family":"Kramer\u2010Bottiglio","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University  9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2025,4,15]]},"reference":[{"key":"e_1_2_9_2_1","first-page":"2","volume":"9","author":"Yeong S. 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