Evidence map›Paper›PMID 40946185›Full record

ArticleAdvanced science (Weinheim, Baden-Wurttemberg, Germany)2025

SPARC: A Soft, Proprioceptive, Agile Robot for 3D Climbing and Exploration with Precise Trajectory Following.

Weicheng Fan, Jiaqi Wang, Hongjian Zhang, Qichen Wu, Qihong Hu, Genliang Chen, Hao Wang, Xiaonan Huang

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Advanced science (Weinheim, Baden-Wurttemberg, Germany), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.

0numbers the graph read from it
0cells of the map it votes in
3citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

3 citing papers in PubMed.

  1. Article
  2. LEGO-like Origami Robots Standardize Structure Design of Soft Robots.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026
    Article
  3. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

8 authors.

Weicheng FanState Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Jiaqi WangHybrid Dynamic Robotics Lab, Robotics Department, University of Michigan, Ann Arbor, MI 48109, USA.
Hongjian ZhangState Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Qichen WuState Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Qihong HuState Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Genliang ChenState Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Hao WangState Key Laboratory of Mechanical Systems and Vibration, and Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Xiaonan HuangHybrid Dynamic Robotics Lab, Robotics Department, University of Michigan, Ann Arbor, MI 48109, USA.ORCID https://orcid.org/0000-0002-2313-1551

Funding

High-Tech Ship Scientific Research Project CBG01N23-04-03
6 · The paper itself

Abstract

Soft robots, like their natural counterparts, are well-suited for exploring 3D terrains due to their large deformation, impact resistance, and adaptive adhesion, derived from their inherent compliance. However, developing soft robots that can navigate both horizontal and vertical surfaces with seamless transitions and precise trajectory tracking remains a challenge. SPARC, a Soft, Proprioceptive, Agile Robot is presented for 3D climbing and exploration with accurate trajectory following. SPARC integrates three parallel 3D-printed Kresling origami actuators with suction cups for 3D actuation and adhesion across diverse surfaces. Leveraging the contraction-twisting coupling of Kresling structures, SPARC enables real-time proprioception through inverse kinematics modeling. A dual closed-loop control strategy combined with efficient online path planning allows precise pose control using onboard angle sensors and global position tracking. Experiments demonstrate SPARC's ability to follow curved and sharply angled trajectories with high precision'achieving 0.5% accuracy on horizontal and 3% on vertical surfaces'while carrying payloads exceeding twice its weight (500 g) on vertical climbs. Moreover, connecting two SPARC modules enables smooth ground-to-wall transitions. The seamless integration of large-magnitude 3D actuation, proprioceptive state sensing, and efficient online path planning makes SPARC a unique soft robot capable of precise trajectory following and navigation in 3D terrains.

Indexed as

3D navigationautonomous trajectory followingorigami soft actuatorproprioceptionsoft climbing robots

Identifiers

PMID40946185
PMCPMC12591128

What OpenQuestion holds

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.