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We examine analytically and numerically the mechanical properties of two collective-actuator designs. The simulations are based on the discrete element method (DEM), with friction and elastic deformations taken into account. One of the actuators is shown to generate forces proportional to its volume. This property seems necessary for building modular structures of useful strength and dimensions.<\/jats:p>","DOI":"10.1017\/s026357471500082x","type":"journal-article","created":{"date-parts":[[2015,10,30]],"date-time":"2015-10-30T01:56:55Z","timestamp":1446170215000},"page":"787-808","source":"Crossref","is-referenced-by-count":12,"title":["Modular-robotic structures for scalable collective actuation"],"prefix":"10.1017","volume":"35","author":[{"given":"Jakub","family":"Lengiewicz","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Micha\u0142","family":"Kursa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pawe\u0142","family":"Ho\u0142obut","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,10,30]]},"reference":[{"key":"S026357471500082X_ref1","unstructured":"K. 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