{"id":"https://openalex.org/W2884985611","doi":"https://doi.org/10.1080/01691864.2018.1496851","title":"Compliant universal grippers as adaptive feet in legged robots","display_name":"Compliant universal grippers as adaptive feet in legged robots","publication_year":2018,"publication_date":"2018-07-27","ids":{"openalex":"https://openalex.org/W2884985611","doi":"https://doi.org/10.1080/01691864.2018.1496851","mag":"2884985611"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2018.1496851","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2018.1496851","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/261523","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002829108","display_name":"Simon Hauser","orcid":"https://orcid.org/0000-0002-9502-4587"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"S. Hauser","raw_affiliation_strings":["BioRob, School of Engineering, EPFL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9502-4587","affiliations":[{"raw_affiliation_string":"BioRob, School of Engineering, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033371019","display_name":"Mehmet Mutlu","orcid":"https://orcid.org/0000-0003-3666-3159"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"M. Mutlu","raw_affiliation_strings":["BioRob, School of Engineering, EPFL, Lausanne, Switzerland","Vislab, Institute of Systems and Robotics, IST, Lisbon, Portugal"],"raw_orcid":"https://orcid.org/0000-0003-3666-3159","affiliations":[{"raw_affiliation_string":"BioRob, School of Engineering, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Vislab, Institute of Systems and Robotics, IST, Lisbon, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085902615","display_name":"Pol Banzet","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"P. Banzet","raw_affiliation_strings":["BioRob, School of Engineering, EPFL, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BioRob, School of Engineering, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"A.J. Ijspeert","raw_affiliation_strings":["BioRob, School of Engineering, EPFL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-1417-9980","affiliations":[{"raw_affiliation_string":"BioRob, School of Engineering, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5002829108"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":1.2987,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.7877409,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"32","issue":"15","first_page":"825","last_page":"836"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9955999851226807,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9933000206947327,"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/grippers","display_name":"Grippers","score":0.8215889930725098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7025565505027771},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.6854463219642639},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6071696877479553},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5609802007675171},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.51943039894104},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5159964561462402},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.5114854574203491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.490640789270401},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4706052243709564},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4672655463218689},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.46584758162498474},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.4461645483970642},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4263073801994324},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4127654433250427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4055333435535431},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.328355073928833},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2740148901939392},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23293393850326538},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18141400814056396},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.17204532027244568},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1523035168647766},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11954519152641296}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8215889930725098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7025565505027771},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.6854463219642639},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6071696877479553},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5609802007675171},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.51943039894104},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5159964561462402},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.5114854574203491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.490640789270401},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4706052243709564},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4672655463218689},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.46584758162498474},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.4461645483970642},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4263073801994324},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4127654433250427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4055333435535431},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.328355073928833},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2740148901939392},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23293393850326538},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18141400814056396},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.17204532027244568},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1523035168647766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11954519152641296},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1080/01691864.2018.1496851","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2018.1496851","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:generic.eprints.org:1175257","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1175257/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:infoscience.epfl.ch:261523","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/261523","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:261523","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/261523","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"research article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4705235391","display_name":"Roombots: using reconfigurable robots to construct adaptive and assistive furniture","funder_award_id":"153299","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1793293096","https://openalex.org/W1811460226","https://openalex.org/W1975214272","https://openalex.org/W1975230295","https://openalex.org/W1990615251","https://openalex.org/W1994349442","https://openalex.org/W2007924815","https://openalex.org/W2028190994","https://openalex.org/W2029744358","https://openalex.org/W2040669665","https://openalex.org/W2072293370","https://openalex.org/W2077676902","https://openalex.org/W2080188165","https://openalex.org/W2094496385","https://openalex.org/W2096904921","https://openalex.org/W2123047960","https://openalex.org/W2126975300","https://openalex.org/W2127374107","https://openalex.org/W2146947104","https://openalex.org/W2168361243","https://openalex.org/W2259032240","https://openalex.org/W2480593599","https://openalex.org/W2480989714","https://openalex.org/W2510188544","https://openalex.org/W2544013339","https://openalex.org/W2549216668","https://openalex.org/W2568550321","https://openalex.org/W2772814818","https://openalex.org/W2890621394","https://openalex.org/W2911674731","https://openalex.org/W6630529035","https://openalex.org/W6681526116","https://openalex.org/W6731497125"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W3083594100","https://openalex.org/W804621235","https://openalex.org/W3035867307","https://openalex.org/W143055317","https://openalex.org/W2998071126","https://openalex.org/W1989428111","https://openalex.org/W2907262613","https://openalex.org/W4289868286","https://openalex.org/W4399557464"],"abstract_inverted_index":{"This":[0,182],"work":[1],"investigates":[2],"the":[3,25,93,105,110,124,134,141,159,191],"usage":[4],"of":[5,19,21,83,109,126,137],"compliant":[6],"universal":[7,26],"grippers":[8,27],"as":[9],"a":[10,35,59,73,84,96,114,154],"novel":[11],"foot":[12,85,127,170],"design":[13,86],"for":[14],"legged":[15,138],"locomotion.":[16],"The":[17,100],"method":[18],"jamming":[20,90],"granular":[22,89],"media":[23],"in":[24,40,113,147,184],"is":[28,64,102,120,151],"characterized":[29],"by":[30,104],"having":[31],"two":[32],"distinct":[33],"states:":[34],"soft,":[36],"fluid-like":[37],"state":[38,62,156],"which":[39],"locomotion":[41,135],"can":[42,129],"be":[43,130],"used":[44,131],"to":[45,67,121,132,161,167,178,193],"damp":[46],"impact":[47],"forces":[48],"and":[49,58,78,91,117,188],"enable":[50],"passive":[51],"shape":[52],"adaptation":[53],"especially":[54],"on":[55,88,95,174],"rough":[56,175],"terrain,":[57],"hard,":[60],"solid-like":[61],"that":[63,75,153],"more":[65,168],"suited":[66],"transmit":[68],"propulsion":[69],"forces.":[70],"We":[71],"propose":[72],"system":[74],"actively":[76],"uses":[77],"switches":[79],"between":[80],"both":[81,164],"states":[82],"based":[87],"detail":[92],"implementation":[94],"quadruped":[97],"robotic":[98],"platform.":[99],"mechanism":[101],"inspired":[103],"stiffness":[106,128],"varying":[107],"function":[108],"tarsal":[111],"bones":[112],"human":[115],"foot,":[116],"our":[118],"aim":[119],"understand":[122],"how":[123],"change":[125],"improve":[133],"performance":[136],"robots.":[139],"Using":[140],"same":[142],"open":[143],"loop":[144],"trot":[145],"gait":[146],"all":[148],"experiments,":[149],"it":[150],"shown":[152],"fast":[155],"transition":[157],"enables":[158,190],"robot":[160,192],"profit":[162],"from":[163],"states,":[165],"leading":[166],"uniform":[169],"placement":[171],"patterns":[172],"also":[173],"terrain":[176],"compared":[177],"other":[179],"tested":[180],"feet.":[181],"results":[183],"overall":[185],"faster":[186],"gaits":[187],"even":[189],"climb":[194],"steeper":[195],"inclined":[196],"surfaces.":[197]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
