{"id":"https://openalex.org/W4404389726","doi":"https://doi.org/10.48550/arxiv.2411.05482","title":"Soft Gripping System for Space Exploration Legged Robots","display_name":"Soft Gripping System for Space Exploration Legged Robots","publication_year":2024,"publication_date":"2024-11-08","ids":{"openalex":"https://openalex.org/W4404389726","doi":"https://doi.org/10.48550/arxiv.2411.05482"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2411.05482","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05482","pdf_url":"https://arxiv.org/pdf/2411.05482","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2411.05482","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019176977","display_name":"Arthur Candalot","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Candalot, Arthur","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Hashim, Malik-Manel","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hashim, Malik-Manel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Hickey, Brigid","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hickey, Brigid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112565999","display_name":"Micka\u00ebl La\u00een\u00e9","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Laine, Mickael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114653575","display_name":"Mitch Hunter-Scullion","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hunter-Scullion, Mitch","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877","observed_orcids":["https://orcid.org/0000-0003-3889-5877"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yoshida, Kazuya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.49219998717308044,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.49219998717308044,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.32760000228881836,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.06700000166893005,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/legged-robots","display_name":"legged robots","score":0.9309999942779541},{"id":"https://openalex.org/keywords/microspines","display_name":"microspines","score":0.8500000238418579},{"id":"https://openalex.org/keywords/adhesion","display_name":"adhesion","score":0.5720000267028809},{"id":"https://openalex.org/keywords/rocky-terrain","display_name":"rocky terrain","score":0.7419999837875366},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"planetary exploration","score":0.6430000066757202},{"id":"https://openalex.org/keywords/lunar-caves","display_name":"lunar caves","score":0.6169999837875366},{"id":"https://openalex.org/keywords/asteroid-surface-exploration","display_name":"asteroid surface exploration","score":0.9070000052452087},{"id":"https://openalex.org/keywords/climbing-robot","display_name":"climbing robot","score":0.6729999780654907}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6623401641845703},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.6279770731925964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.496446430683136},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4509791433811188},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40091291069984436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33837640285491943},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.11843007802963257}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2411.05482","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05482","pdf_url":"https://arxiv.org/pdf/2411.05482","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:arXiv.org:2411.07261","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.07261","pdf_url":"https://arxiv.org/pdf/2411.07261","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2411.05482","doi":"https://doi.org/10.48550/arxiv.2411.05482","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2411.05482","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2411.05482","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2411.05482","pdf_url":"https://arxiv.org/pdf/2411.05482","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7138936498","https://openalex.org/W2769723429","https://openalex.org/W7071223565","https://openalex.org/W4312504984","https://openalex.org/W2789286234","https://openalex.org/W7056723217","https://openalex.org/W7138844107","https://openalex.org/W4285102368","https://openalex.org/W2732249944","https://openalex.org/W4404405298"],"abstract_inverted_index":{"Although":[0],"wheeled":[1],"robots":[2,26,49],"have":[3],"been":[4],"predominant":[5],"for":[6,127],"planetary":[7],"exploration,":[8,130],"their":[9,12],"geometry":[10],"limits":[11],"capabilities":[13],"when":[14],"traveling":[15],"over":[16],"steep":[17],"slopes,":[18],"through":[19],"rocky":[20,55,83],"terrains,":[21],"and":[22,77,95,109],"in":[23],"microgravity.":[24],"Legged":[25],"equipped":[27],"with":[28,85],"grippers":[29],"are":[30,93],"a":[31,41,50,79,124],"viable":[32],"alternative":[33],"to":[34,71,73,82],"overcome":[35],"these":[36],"obstacles.":[37],"This":[38,57],"paper":[39],"proposes":[40],"gripping":[42,64,91],"system":[43],"that":[44,118],"can":[45,122],"provide":[46],"legged":[47],"space-explorer":[48],"reliable":[51],"anchor":[52],"on":[53,112],"uneven":[54],"terrain.":[56],"gripper":[58,121],"provides":[59],"the":[60,74,86,99,102,113,119,138],"benefits":[61],"of":[62,88,101,137,140],"soft":[63],"technology":[65],"by":[66],"using":[67],"segmented":[68],"tendon-driven":[69],"fingers":[70],"adapt":[72],"target":[75,105],"shape,":[76,106],"creates":[78],"strong":[80],"adhesion":[81],"surfaces":[84],"help":[87],"microspines.":[89],"The":[90,115],"performances":[92],"showcased,":[94],"multiple":[96],"experiments":[97],"demonstrate":[98],"impact":[100],"pulling":[103],"angle,":[104],"spine":[107],"configuration,":[108],"actuation":[110],"power":[111],"performances.":[114],"results":[116],"show":[117],"proposed":[120],"be":[123],"suitable":[125],"solution":[126],"advanced":[128],"space":[129],"including":[131],"climbing,":[132],"lunar":[133],"caves,":[134],"or":[135],"exploration":[136],"surface":[139],"asteroids.":[141]},"counts_by_year":[],"updated_date":"2026-09-29T14:09:16.559479","created_date":"2024-11-15T00:00:00"}
