{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T15:57:29Z","timestamp":1781107049397,"version":"3.54.1"},"reference-count":32,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100011789","name":"Jilin Provincial Science and Technology Department","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100011789","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.robot.2026.105542","type":"journal-article","created":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T15:13:57Z","timestamp":1779376437000},"page":"105542","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["A tensegrity-inspired variable-diameter wheel for mobile robots"],"prefix":"10.1016","volume":"203","author":[{"given":"Yipeng","family":"Luan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianwei","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Meiling","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinkui","family":"Chu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.robot.2026.105542_bib0001","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1080\/11762320802557865","article-title":"Soft robotics: biological inspiration, state of the art, and future research","volume":"5","author":"Trivedi","year":"2008","journal-title":"Appl. Bionics Biomech."},{"issue":"1","key":"10.1016\/j.robot.2026.105542_bib0002","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1089\/soro.2013.0001","article-title":"Soft robotics: a perspective-current trends and prospects for the future","volume":"1","author":"Majidi","year":"2014","journal-title":"Soft Robot."},{"key":"10.1016\/j.robot.2026.105542_bib0003","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1016\/j.robot.2017.09.008","article-title":"A transformable wheel-legged mobile robot: design, analysis and experiment","volume":"98","author":"Sun","year":"2017","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105542_bib0004","series-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst. (IROS)","first-page":"4165","article-title":"A transformable wheel robot with a passive leg","author":"She","year":"2015"},{"key":"10.1016\/j.robot.2026.105542_bib0005","series-title":"Proc. IEEE Int. Conf. Robot. Autom. (ICRA)","first-page":"2913","article-title":"A passive, origami-inspired, continuously variable transmission","author":"Felton","year":"2014"},{"issue":"4","key":"10.1016\/j.robot.2026.105542_bib0006","doi-asserted-by":"crossref","first-page":"2073","DOI":"10.1109\/TMECH.2023.3276933","article-title":"A shape-changing wheeling and jumping robot using tensegrity wheels and bistable mechanism","volume":"28","author":"Spiegel","year":"2023","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"2","key":"10.1016\/j.robot.2026.105542_bib0007","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1089\/soro.2016.0038","article-title":"Origami wheel transformer: a variable-diameter wheel drive robot using an origami structure","volume":"4","author":"Lee","year":"2017","journal-title":"Soft Robot."},{"key":"10.1016\/j.robot.2026.105542_bib0008","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2020.103627","article-title":"FUHAR: a transformable wheel-legged hybrid mobile robot","volume":"133","author":"Merty\u00fcz","year":"2020","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105542_bib0009","doi-asserted-by":"crossref","first-page":"2529","DOI":"10.1109\/TMECH.2024.3457011","article-title":"Design and implementation of a mobile robot with variable-diameter wheels","volume":"30","author":"Moger","year":"2024","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"10.1016\/j.robot.2026.105542_bib0010","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/j.robot.2018.06.005","article-title":"An optional passive\/active transformable wheel-legged mobility concept for search and rescue robots","volume":"107","author":"Bai","year":"2018","journal-title":"Robot. Auton. Syst."},{"issue":"6","key":"10.1016\/j.robot.2026.105542_bib0011","doi-asserted-by":"crossref","first-page":"615","DOI":"10.1089\/soro.2019.0094","article-title":"Swimming performance of the frog-inspired soft robot","volume":"7","author":"Fan","year":"2020","journal-title":"Soft Robot."},{"key":"10.1016\/j.robot.2026.105542_bib0012","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2021.104571","article-title":"A review on tensegrity structures-based robots","volume":"168","author":"Liu","year":"2022","journal-title":"Mech. Mach. Theo."},{"issue":"3","key":"10.1016\/j.robot.2026.105542_bib0013","doi-asserted-by":"crossref","first-page":"636","DOI":"10.1089\/soro.2022.0048","article-title":"A preprogrammable continuum robot inspired by elephant trunk for dexterous manipulation","volume":"10","author":"Zhang","year":"2023","journal-title":"Soft Robot."},{"key":"10.1016\/j.robot.2026.105542_bib0014","doi-asserted-by":"crossref","first-page":"7149","DOI":"10.1109\/TMECH.2025.3532491","article-title":"Bio-inspired tensegrity building block with anisotropic stiffness for soft robots","volume":"30","author":"Zhang","year":"2025","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"4","key":"10.1016\/j.robot.2026.105542_bib0015","doi-asserted-by":"crossref","first-page":"1909","DOI":"10.1109\/LRA.2017.2714141","article-title":"A prestressed soft gripper: design, modeling, fabrication, and tests for food handling","volume":"2","author":"Wang","year":"2017","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"5","key":"10.1016\/j.robot.2026.105542_bib0016","doi-asserted-by":"crossref","DOI":"10.1115\/1.4062949","article-title":"Mechanically prestressed pneumatically driven bistable soft actuators","volume":"16","author":"Zhou","year":"2024","journal-title":"J. Mech. Robot."},{"issue":"5","key":"10.1016\/j.robot.2026.105542_bib0017","doi-asserted-by":"crossref","first-page":"1712","DOI":"10.1109\/TRO.2021.3049430","article-title":"Body stiffness variation of a tensegrity robotic fish using antagonistic stiffness in a kinematically singular configuration","volume":"37","author":"Chen","year":"2021","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"10.1016\/j.robot.2026.105542_bib0018","doi-asserted-by":"crossref","first-page":"362","DOI":"10.1089\/soro.2019.0091","article-title":"Phase changing materials-based variable-stiffness tensegrity structures","volume":"7","author":"Zappetti","year":"2020","journal-title":"Soft Robot."},{"issue":"6","key":"10.1016\/j.robot.2026.105542_bib0019","article-title":"Bioinspired continuum robots with programmable stiffness by harnessing phase change materials","volume":"8","author":"Zhang","year":"2023","journal-title":"Adv. Mater. Technol."},{"issue":"1","key":"10.1016\/j.robot.2026.105542_bib0020","doi-asserted-by":"crossref","first-page":"19","DOI":"10.3390\/biomimetics9010019","article-title":"Design and analysis of a novel bionic tensegrity robotic fish with a continuum body","volume":"9","author":"Chen","year":"2024","journal-title":"Biomimetics"},{"key":"10.1016\/j.robot.2026.105542_bib0021","series-title":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","first-page":"1","article-title":"Tensegrity-based robot leg design with variable stiffness","author":"Mortensen","year":"2025"},{"issue":"2","key":"10.1016\/j.robot.2026.105542_bib0022","doi-asserted-by":"crossref","DOI":"10.1115\/1.4036014","article-title":"Soft spherical tensegrity robot design using rod-centered actuation and control","volume":"9","author":"Chen","year":"2017","journal-title":"J. Mech. Robot."},{"issue":"3","key":"10.1016\/j.robot.2026.105542_bib0023","doi-asserted-by":"crossref","first-page":"346","DOI":"10.1089\/soro.2019.0056","article-title":"Rolling locomotion of cable-driven soft spherical tensegrity robots","volume":"7","author":"Kim","year":"2020","journal-title":"Soft Robot."},{"issue":"4","key":"10.1016\/j.robot.2026.105542_bib0024","doi-asserted-by":"crossref","first-page":"639","DOI":"10.1089\/soro.2020.0170","article-title":"Tensegrity robotics","volume":"9","author":"Shah","year":"2022","journal-title":"Soft Robot."},{"key":"10.1016\/j.robot.2026.105542_bib0025","doi-asserted-by":"crossref","first-page":"2510","DOI":"10.1002\/rob.70155","article-title":"Design of a hybrid robot based on a tensegrity structure","volume":"43","author":"Luan","year":"2026","journal-title":"J. Field Robot."},{"issue":"5","key":"10.1016\/j.robot.2026.105542_bib0026","doi-asserted-by":"crossref","first-page":"631","DOI":"10.1111\/joa.12511","article-title":"Flight feather attachment in rock pigeons (Columba livia): covert feathers and smooth muscle coordinate a morphing wing","volume":"229","author":"Hieronymus","year":"2016","journal-title":"J. Anat."},{"key":"10.1016\/j.robot.2026.105542_bib0027","doi-asserted-by":"crossref","first-page":"140","DOI":"10.3389\/fbioe.2018.00140","article-title":"Building a bird: musculoskeletal modeling and simulation of wing-assisted incline running during avian ontogeny","volume":"6","author":"Heers","year":"2018","journal-title":"Front. Bioeng. Biotechnol."},{"issue":"1570","key":"10.1016\/j.robot.2026.105542_bib0028","doi-asserted-by":"crossref","first-page":"1496","DOI":"10.1098\/rstb.2010.0353","article-title":"Muscle function in avian flight: achieving power and control","volume":"366","author":"Biewener","year":"2011","journal-title":"Philos. Trans. R. Soc. B Biol. Sci."},{"key":"10.1016\/j.robot.2026.105542_bib0029","article-title":"Behavior of traditional Chinese mortise-tenon joints: experimental and numerical insight for coupled vertical and reversed cyclic horizontal loads","volume":"30","author":"Li","year":"2020","journal-title":"J. Build. Eng."},{"key":"10.1016\/j.robot.2026.105542_bib0030","doi-asserted-by":"crossref","DOI":"10.1016\/j.sna.2024.116108","article-title":"A mortise-tenon inspired variable stiffness finger for multi-mode grasping","volume":"382","author":"Yang","year":"2025","journal-title":"Sens. Actuators A Phys."},{"key":"10.1016\/j.robot.2026.105542_bib0031","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2022.104978","article-title":"Creating a flexible continuum robot using origami and mortise-tenon structure","volume":"176","author":"Yu","year":"2022","journal-title":"Mech. Mach. Theory"},{"key":"10.1016\/j.robot.2026.105542_bib0032","series-title":"2019 IEEE International Conference on Robotics and Automation (ICRA)","first-page":"7515","article-title":"Ascento: a two-wheeled jumping robot","author":"Klemm","year":"2019"}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026002149?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026002149?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T15:02:22Z","timestamp":1781103742000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889026002149"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":32,"alternative-id":["S0921889026002149"],"URL":"https:\/\/doi.org\/10.1016\/j.robot.2026.105542","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"A tensegrity-inspired variable-diameter wheel for mobile robots","name":"articletitle","label":"Article Title"},{"value":"Robotics and Autonomous Systems","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.robot.2026.105542","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"105542"}}