{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T20:35:16Z","timestamp":1774989316798,"version":"3.50.1"},"reference-count":190,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"89","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2024,4,24]]},"abstract":"<jats:p>Animals are much better at running than robots. The difference in performance arises in the important dimensions of agility, range, and robustness. To understand the underlying causes for this performance gap, we compare natural and artificial technologies in the five subsystems critical for running: power, frame, actuation, sensing, and control. With few exceptions, engineering technologies meet or exceed the performance of their biological counterparts. We conclude that biology\u2019s advantage over engineering arises from better integration of subsystems, and we identify four fundamental obstacles that roboticists must overcome. Toward this goal, we highlight promising research directions that have outsized potential to help future running robots achieve animal-level performance.<\/jats:p>","DOI":"10.1126\/scirobotics.adi9754","type":"journal-article","created":{"date-parts":[[2024,4,24]],"date-time":"2024-04-24T17:58:17Z","timestamp":1713981497000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":39,"title":["Why animals can outrun robots"],"prefix":"10.1126","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2705-7395","authenticated-orcid":true,"given":"Samuel A.","family":"Burden","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Washington, Seattle, WA 98195, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5850-4979","authenticated-orcid":true,"given":"Thomas","family":"Libby","sequence":"additional","affiliation":[{"name":"Robotics Laboratory, SRI International, Menlo Park, CA 94025, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6958-7650","authenticated-orcid":true,"given":"Kaushik","family":"Jayaram","sequence":"additional","affiliation":[{"name":"Paul M. Rady Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO 80303, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4942-4894","authenticated-orcid":true,"given":"Simon","family":"Sponberg","sequence":"additional","affiliation":[{"name":"Schools of Physics and Biological Sciences, Georgia Institute of Technology, Atlanta, GA 30317, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3880-893X","authenticated-orcid":true,"given":"J. Maxwell","family":"Donelan","sequence":"additional","affiliation":[{"name":"Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC V5A 1S6, Canada."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/1\/1\/E01"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/1\/1\/P01"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1254486"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.138438"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1088\/0034-4885\/79\/11\/110001"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7650"},{"key":"e_1_3_2_8_2","unstructured":"D. Marr Vision: A Computational Investigation Into the Human Representation and Processing of Visual Information (MIT Press 1982)."},{"key":"e_1_3_2_9_2","doi-asserted-by":"crossref","unstructured":"J. D. Wong J. M. Donelan \u201cPrinciples of energetics and stability in legged locomotion \u201d in Humanoid Robotics: A Reference P. Vadakkepat Ed. (Springer 2019) pp. 1231\u20131259.","DOI":"10.1007\/978-94-007-6046-2_67"},{"key":"e_1_3_2_10_2","doi-asserted-by":"crossref","unstructured":"C. G. Atkeson B. Babu N. Banerjee D. Berenson C. P. Bove X. Cui M. DeDonato R. Du S. Feng P. Franklin M. Gennert J. P. Graff P. He A. Jaeger J. Kim K. Knoedler L. Li C. Liu X. Long T. Padir F. Polido G. G. Tighe X. Xinjilefu \u201cWhat happened at the DARPA robotics challenge and why?\u201d in The DARPA Robotics Challenge Finals: Humanoid Robots to the Rescue M. Spenko S. Buerger K. Iagnemma Eds. vol. 121 of Springer Tracts in Advanced Robotics (Springer 2018) pp. 667\u2013684.","DOI":"10.1007\/978-3-319-74666-1_17"},{"key":"e_1_3_2_11_2","first-page":"413","article-title":"The energetic cost of moving about","volume":"63","author":"Tucker V. A.","year":"1975","unstructured":"V. A. Tucker, The energetic cost of moving about. Am. Sci. 63, 413\u2013419 (1975).","journal-title":"Am. Sci."},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914527485"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917694244"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914521473"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/MSPEC.2019.8651932"},{"key":"e_1_3_2_16_2","doi-asserted-by":"crossref","unstructured":"D. W. Haldane R. S. Fearing \u201cRunning beyond the bio-inspired regime \u201d in 2015 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2015) pp. 4539\u20134546.","DOI":"10.1109\/ICRA.2015.7139828"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsbl.2020.0579"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7998.1983.tb02087.x"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41559-017-0264-x"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.2000473"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1229163"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.012385"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aag2048"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2528294"},{"key":"e_1_3_2_25_2","doi-asserted-by":"crossref","unstructured":"F. Yu R. Batke J. Dao J. Hurst K. Green A. Fern Dynamic bipedal maneuvers through sim-to-real reinforcement learning. arXiv:2207.07835 [cs.RO] (2022).","DOI":"10.1109\/Humanoids53995.2022.10000225"},{"key":"e_1_3_2_26_2","doi-asserted-by":"crossref","unstructured":"A. Hoover S. A. Burden X. Fu S. S. Sastry R. Fearing \u201cBio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot \u201d in Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB) (IEEE 2010) pp. 869\u2013876.","DOI":"10.1109\/BIOROB.2010.5626034"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.12.1603"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.111682"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.244435"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2010.2395"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature12295"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.00349"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910379882"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.205.18.2803"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7998.1986.tb04708.x"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1111\/brv.12539"},{"key":"e_1_3_2_37_2","first-page":"296","article-title":"Leg autotomy and its potential fitness costs for two species of harvestmen (Arachnida, Opiliones)","volume":"26","author":"Guffey C.","year":"1998","unstructured":"C. Guffey, Leg autotomy and its potential fitness costs for two species of harvestmen (Arachnida, Opiliones). J. Arachnol. 26, 296\u2013302 (1998).","journal-title":"J. Arachnol."},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.061135"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01986"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.102640"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7998.2006.00150.x"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1514591113"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/10\/4\/046003"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0809095106"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2023.1223946"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.pbiomolbio.2003.11.014"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.pecs.2005.04.001"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1093\/ajcn\/6.5.542"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.3182\/20080706-5-KR-1001.01833"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.ph.49.030187.001031"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtbi.2021.110714"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41559-017-0241-4"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aaw0341"},{"key":"e_1_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1021\/jz1005384"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asd.2004.05.006"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.2251499"},{"key":"e_1_3_2_58_2","first-page":"C7-1","article-title":"Materials selection in mechanical design","volume":"3","author":"Ashby M. F.","year":"1993","unstructured":"M. F. Ashby, D. Cebon, Materials selection in mechanical design. J. Phys. 3, C7-1\u2013C7-9 (1993).","journal-title":"J. Phys."},{"key":"e_1_3_2_59_2","doi-asserted-by":"crossref","unstructured":"S. O. Andersen T. Weis-Fogh Resilin. \u201cA rubberlike protein in arthropod cuticle \u201d in Advances in Insect Physiology J. W. L. Beament J. E. Treherne V. B. Wigglesworth Eds. vol. 2 (Academic Press 1964) pp. 1\u201365.","DOI":"10.1016\/S0065-2806(08)60071-5"},{"key":"e_1_3_2_60_2","first-page":"R1016","article-title":"Relationship between body mass and biomechanical properties of limb tendons in adult mammals","volume":"266","author":"Pollock C. M.","year":"1994","unstructured":"C. M. Pollock, R. E. Shadwick, Relationship between body mass and biomechanical properties of limb tendons in adult mammals. Am. J. Physiol. 266, R1016\u2013R1021 (1994).","journal-title":"Am. J. Physiol."},{"key":"e_1_3_2_61_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914532150"},{"key":"e_1_3_2_62_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201502403"},{"key":"e_1_3_2_63_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1261689"},{"key":"e_1_3_2_64_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202003088"},{"key":"e_1_3_2_65_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaq0495"},{"key":"e_1_3_2_66_2","doi-asserted-by":"crossref","unstructured":"M. Hutter C. Gehring M. Bloesch M. A. Hoepflinger C. D. Remy R. Siegwart \u201cStarlETH: A compliant quadrupedal robot for fast efficient and versatile locomotion \u201d in Adaptive Mobile Robotics A. K. M. Azad N. J. Cowan M. O. Tokhi G. S. Virk R. D. Eastman Eds. (World Scientific 2012) pp. 483\u2013490.","DOI":"10.1142\/9789814415958_0062"},{"key":"e_1_3_2_67_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2270435"},{"key":"e_1_3_2_68_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/7\/4\/041001"},{"key":"e_1_3_2_69_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.197889"},{"key":"e_1_3_2_70_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-018-0602-4"},{"key":"e_1_3_2_71_2","doi-asserted-by":"crossref","unstructured":"S. Soatto \u201cActionable information in vision \u201d in Machine Learning for Computer Vision R. Cipolla S. Battiato G. M. Farinella Eds. vol. 411 of Studies in Computational Intelligence (Springer 2013) pp. 17\u201348.","DOI":"10.1007\/978-3-642-28661-2_2"},{"key":"e_1_3_2_72_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-ento-120709-144852"},{"key":"e_1_3_2_73_2","doi-asserted-by":"publisher","DOI":"10.1364\/AO.35.001956"},{"key":"e_1_3_2_74_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2022.0102"},{"key":"e_1_3_2_75_2","unstructured":"D. Purves G. J. Augustine D. Fitzpatrick L. C. Katz A.-S. LaMantia J. O. McNamara S. Mark Williams Eds. Neuroscience (Sinauer Associates 2001)."},{"key":"e_1_3_2_76_2","doi-asserted-by":"crossref","unstructured":"G. Gautschi Piezoelectric Sensorics (Springer 2002).","DOI":"10.1007\/978-3-662-04732-3"},{"key":"e_1_3_2_77_2","doi-asserted-by":"publisher","DOI":"10.1083\/jcb.9.3.720"},{"key":"e_1_3_2_78_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00313.2020"},{"key":"e_1_3_2_79_2","unstructured":"R. W. Banks D. Barker Myology: Basic and Clinical (McGraw-Hill 2004)."},{"key":"e_1_3_2_80_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2016.06.070"},{"key":"e_1_3_2_81_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.0050116"},{"key":"e_1_3_2_82_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.017574"},{"key":"e_1_3_2_83_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.resp.2004.01.006"},{"key":"e_1_3_2_84_2","doi-asserted-by":"publisher","DOI":"10.1152\/physrev.1976.56.3.465"},{"key":"e_1_3_2_85_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"e_1_3_2_86_2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.887294"},{"key":"e_1_3_2_87_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2006.05.056"},{"key":"e_1_3_2_88_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2018.0613"},{"key":"e_1_3_2_89_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF00339943"},{"key":"e_1_3_2_90_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1424-8"},{"key":"e_1_3_2_91_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asd.2011.09.001"},{"key":"e_1_3_2_92_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2009.08.023"},{"key":"e_1_3_2_93_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abl6334"},{"key":"e_1_3_2_94_2","unstructured":"R. Bellman Dynamic Programming (Princeton Univ. Press 1957)."},{"key":"e_1_3_2_95_2","unstructured":"N. A. Bernstein The Co-ordination and Regulation of Movements (Pergamon Press 1967)."},{"key":"e_1_3_2_96_2","doi-asserted-by":"crossref","unstructured":"G. A. Pratt M. M. Williamson \u201cSeries elastic actuators \u201d in Proceedings 1995 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots vol. 1 (IEEE 1995) pp. 399\u2013406.","DOI":"10.1109\/IROS.1995.525827"},{"key":"e_1_3_2_97_2","unstructured":"J. E. Pratt B. T. Krupp \u201cSeries elastic actuators for legged robots \u201d in Unmanned Ground Vehicle Technology VI vol. 5422 (International Society for Optics and Photonics 2004) pp. 135\u2013145."},{"key":"e_1_3_2_98_2","doi-asserted-by":"publisher","DOI":"10.1137\/S0036144504445133"},{"key":"e_1_3_2_99_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.23.3325"},{"key":"e_1_3_2_100_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2006.1911"},{"key":"e_1_3_2_101_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-020-00856-4"},{"key":"e_1_3_2_102_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-019-11613-y"},{"key":"e_1_3_2_103_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.89.012716"},{"key":"e_1_3_2_104_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00077"},{"key":"e_1_3_2_105_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2021.02.002"},{"key":"e_1_3_2_106_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-021-04138-2"},{"key":"e_1_3_2_107_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.03.003"},{"key":"e_1_3_2_108_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.012579799"},{"key":"e_1_3_2_109_2","doi-asserted-by":"crossref","unstructured":"W. G. Eberhard W. T. Wcislo \u201cGrade changes in brain\u2013body allometry: Morphological and behavioural correlates of brain size in miniature spiders insects and other invertebrates \u201d in Advances in Insect Physiology J. Casas Ed. vol. 40 (Academic Press 2011) pp. 155\u2013214.","DOI":"10.1016\/B978-0-12-387668-3.00004-0"},{"key":"e_1_3_2_110_2","first-page":"1731","article-title":"Allometry of visceral organs in living amniotes and its implications for sauropod dinosaurs","volume":"276","author":"Franz R.","year":"2009","unstructured":"R. Franz, J. Hummel, E. Kienzle, P. K\u00f6lle, H.-C. Gunga, M. Clauss, Allometry of visceral organs in living amniotes and its implications for sauropod dinosaurs. Proc. Biol. Sci. 276, 1731\u20131736 (2009).","journal-title":"Proc. Biol. Sci."},{"key":"e_1_3_2_111_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF00341469"},{"key":"e_1_3_2_112_2","doi-asserted-by":"publisher","DOI":"10.1086\/284385"},{"key":"e_1_3_2_113_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1744-7410.2012.00273.x"},{"key":"e_1_3_2_114_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2339013"},{"key":"e_1_3_2_115_2","doi-asserted-by":"crossref","unstructured":"G. Bledt M. J. Powell B. Katz J. Di Carlo P. M. Wensing S. Kim \u201cMIT Cheetah 3: Design and control of a robust dynamic quadruped robot \u201d in 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2018) pp. 2245\u20132252.","DOI":"10.1109\/IROS.2018.8593885"},{"key":"e_1_3_2_116_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2360493"},{"key":"e_1_3_2_117_2","doi-asserted-by":"crossref","unstructured":"M. Hutter C. Gehring D. Jud A. Lauber C. D. Bellicoso V. Tsounis J. Hwangbo K. Bodie P. Fankhauser M. Bloesch R. Diethelm S. Bachmann A. Melzer M. Hoepflinger \u201cANYmal - A highly mobile and dynamic quadrupedal robot \u201d in 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2016) pp. 38\u201344.","DOI":"10.1109\/IROS.2016.7758092"},{"key":"e_1_3_2_118_2","doi-asserted-by":"publisher","DOI":"10.1038\/sj.ijo.0803720"},{"key":"e_1_3_2_119_2","doi-asserted-by":"publisher","DOI":"10.1021\/acs.jpclett.5b01813"},{"key":"e_1_3_2_120_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.88.11.4870"},{"key":"e_1_3_2_121_2","first-page":"463","article-title":"Derivation of formulae used to calculate energy expenditure in man","volume":"41","author":"Brockway J. M.","year":"1987","unstructured":"J. M. Brockway, Derivation of formulae used to calculate energy expenditure in man. Hum. Nutr. Clin. Nutr. 41, 463\u2013471 (1987).","journal-title":"Hum. Nutr. Clin. Nutr."},{"key":"e_1_3_2_122_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.0269-8463.2004.00856.x"},{"key":"e_1_3_2_123_2","doi-asserted-by":"publisher","DOI":"10.1038\/386457a0"},{"key":"e_1_3_2_124_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.288.5463.100"},{"key":"e_1_3_2_125_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature03052"},{"key":"e_1_3_2_126_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aao1082"},{"key":"e_1_3_2_127_2","unstructured":"M. F. Ashby Materials Selection in Mechanical Design (Butterworth-Heinemann 1992)."},{"key":"e_1_3_2_128_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.23.3333"},{"key":"e_1_3_2_129_2","first-page":"1924","article-title":"Fatigue of insect cuticle","volume":"216","author":"Dirks J.-H.","year":"2013","unstructured":"J.-H. Dirks, E. Parle, D. Taylor, Fatigue of insect cuticle. J. Exp. Biol. 216, 1924\u20131927 (2013).","journal-title":"J. Exp. Biol."},{"key":"e_1_3_2_130_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsbl.2004.0243"},{"key":"e_1_3_2_131_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.198.9.1829"},{"key":"e_1_3_2_132_2","doi-asserted-by":"publisher","DOI":"10.1109\/100.876907"},{"key":"e_1_3_2_133_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4007843"},{"key":"e_1_3_2_134_2","doi-asserted-by":"crossref","unstructured":"O. Ozcan A. T. Baisch D. Ithier R. J. Wood \u201cPowertrain selection for a biologically-inspired miniature quadruped robot \u201d in 2014 IEEE International Conference on Robotics and Automation (IEEE 2014) pp. 2398\u20132405.","DOI":"10.1109\/ICRA.2014.6907192"},{"key":"e_1_3_2_135_2","doi-asserted-by":"publisher","DOI":"10.1561\/2300000044"},{"key":"e_1_3_2_136_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7580.2008.00961.x"},{"key":"e_1_3_2_137_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.198.6.1285"},{"key":"e_1_3_2_138_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2005.04.025"},{"key":"e_1_3_2_139_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.205.3.379"},{"key":"e_1_3_2_140_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00360-009-0401-1"},{"key":"e_1_3_2_141_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2006.11.013"},{"key":"e_1_3_2_142_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.01140.2013"},{"key":"e_1_3_2_143_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2640183"},{"key":"e_1_3_2_144_2","doi-asserted-by":"crossref","unstructured":"S. Wolf O. Eiberger G. Hirzinger \u201cThe DLR FSJ: Energy based design of a variable stiffness joint \u201d in 2011 IEEE International Conference on Robotics and Automation (IEEE 2011) pp. 5082\u20135089.","DOI":"10.1109\/ICRA.2011.5980303"},{"key":"e_1_3_2_145_2","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/2281\/1\/012007"},{"key":"e_1_3_2_146_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2021.3098921"},{"key":"e_1_3_2_147_2","doi-asserted-by":"crossref","unstructured":"K. Jayaram J. Shum S. Castellanos E. Farrell Helbling R. J. Wood \u201cScaling down an insect-size microrobot HAMR-VI into HAMR-Jr \u201d in 2020 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2020) pp. 10305\u201310311.","DOI":"10.1109\/ICRA40945.2020.9197436"},{"key":"e_1_3_2_148_2","doi-asserted-by":"crossref","unstructured":"N. Doshi B. Goldberg R. Sahai N. Jafferis D. Aukes R. J. Wood J. A. Paulson \u201cModel driven design for flexure-based microrobots \u201d in 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2015) pp. 4119\u20134126.","DOI":"10.1109\/IROS.2015.7353959"},{"key":"e_1_3_2_149_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.ph.55.030193.002523"},{"key":"e_1_3_2_150_2","doi-asserted-by":"crossref","unstructured":"R. J. Full K. Meijer \u201cArtificial muscles versus natural actuators from frogs to flies \u201d in Smart Structures and Materials 2000: Electroactive Polymer Actuators and Devices (EAPAD) vol. 3987 (SPIE 2000) pp. 2\u20139.","DOI":"10.1117\/12.387761"},{"key":"e_1_3_2_151_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.205.15.2153"},{"key":"e_1_3_2_152_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.198.2.491"},{"key":"e_1_3_2_153_2","doi-asserted-by":"publisher","DOI":"10.1086\/525290"},{"key":"e_1_3_2_154_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.205.10.1485"},{"key":"e_1_3_2_155_2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(85)90058-5"},{"key":"e_1_3_2_156_2","unstructured":"D. Purves G. J. Augustine D. Fitzpatrick W. C. Hall A.-S. LaMantia R. D. Mooney M. L. Platt L. E. White Eds. Neuroscience (Sinauer Associates ed. 3 2004)."},{"key":"e_1_3_2_157_2","doi-asserted-by":"publisher","DOI":"10.1038\/1597"},{"key":"e_1_3_2_158_2","unstructured":"G. Gautschi Piezoelectric Sensorics: Force Strain Pressure Acceleration and Acoustic Emission Sensors Materials and Amplifiers (Springer Science & Business Media 2006)."},{"key":"e_1_3_2_159_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0070-2153(09)89005-4"},{"key":"e_1_3_2_160_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00359-018-1267-z"},{"key":"e_1_3_2_161_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asd.2019.01.001"},{"key":"e_1_3_2_162_2","unstructured":"A. Engel C. Franzini-Armstrong Myology: Basic and Clinical (McGraw-Hill ed. 3 2005)."},{"key":"e_1_3_2_163_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.188854"},{"key":"e_1_3_2_164_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2018.01.064"},{"key":"e_1_3_2_165_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1995.74.4.1675"},{"key":"e_1_3_2_166_2","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.0089-09.2009"},{"key":"e_1_3_2_167_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0217188"},{"key":"e_1_3_2_168_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF02477711"},{"key":"e_1_3_2_169_2","doi-asserted-by":"publisher","DOI":"10.1038\/14731"},{"key":"e_1_3_2_170_2","unstructured":"Beckhoff Automation EtherCAT system documentation (2018); https:\/\/download.beckhoff.com\/download\/document\/io\/ethercat-terminals\/ethercatsystem_en.pdf."},{"key":"e_1_3_2_171_2","unstructured":"InfiniBand Trade Association InfiniBand (2020); https:\/\/infinibandta.org\/."},{"key":"e_1_3_2_172_2","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4254-11.2012"},{"key":"e_1_3_2_173_2","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.5200-08.2009"},{"key":"e_1_3_2_174_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2005.05.056"},{"key":"e_1_3_2_175_2","first-page":"1240","article-title":"Optic nerve sheath diameters in healthy adults measured by computer tomography","volume":"8","author":"Vaiman M.","year":"2015","unstructured":"M. Vaiman, R. Abuita, I. Bekerman, Optic nerve sheath diameters in healthy adults measured by computer tomography. Int. J. Ophthalmol. 8, 1240\u20131244 (2015).","journal-title":"Int. J. Ophthalmol."},{"key":"e_1_3_2_176_2","unstructured":"H. L. More \u201cScaling of sensorimotor control in terrestrial mammals \u201d thesis Simon Fraser University Burnaby Canada (2013)."},{"key":"e_1_3_2_177_2","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.1979.sp012737"},{"key":"e_1_3_2_178_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2010.0898"},{"key":"e_1_3_2_179_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.53.2.299"},{"key":"e_1_3_2_180_2","doi-asserted-by":"publisher","DOI":"10.1145\/3403960"},{"key":"e_1_3_2_181_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-020-0435-7"},{"key":"e_1_3_2_182_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuroscience.2021.01.014"},{"key":"e_1_3_2_183_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(97)00097-X"},{"key":"e_1_3_2_184_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14539"},{"key":"e_1_3_2_185_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1254642"},{"key":"e_1_3_2_186_2","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2018.157113521"},{"key":"e_1_3_2_187_2","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2019.2903009"},{"key":"e_1_3_2_188_2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2021.3067593"},{"key":"e_1_3_2_189_2","doi-asserted-by":"publisher","DOI":"10.1002\/cne.1365"},{"key":"e_1_3_2_190_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1210027"},{"key":"e_1_3_2_191_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1145463"}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.adi9754","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,16]],"date-time":"2024-11-16T23:44:32Z","timestamp":1731800672000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.adi9754"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,24]]},"references-count":190,"journal-issue":{"issue":"89","published-print":{"date-parts":[[2024,4,24]]}},"alternative-id":["10.1126\/scirobotics.adi9754"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.adi9754","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,4,24]]},"assertion":[{"value":"2023-05-31","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-03-26","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-04-24","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eadi9754"}}