{"id":"https://openalex.org/W2480989714","doi":"https://doi.org/10.1109/biorob.2016.7523788","title":"Friction and damping of a compliant foot based on granular jamming for legged robots","display_name":"Friction and damping of a compliant foot based on granular jamming for legged robots","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2480989714","doi":"https://doi.org/10.1109/biorob.2016.7523788","mag":"2480989714"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/225686","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":"Simon Hauser","raw_affiliation_strings":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038667867","display_name":"Peter Eckert","orcid":"https://orcid.org/0000-0003-3569-8528"},"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":"Peter Eckert","raw_affiliation_strings":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077705686","display_name":"Alexandre Tuleu","orcid":null},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"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":"Alexandre Tuleu","raw_affiliation_strings":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","VISLAB, ISR Instituto Superior Tecnico, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"VISLAB, ISR Instituto Superior Tecnico, Lisbon, Portugal","institution_ids":["https://openalex.org/I4387152517"]}]},{"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":"Auke Ijspeert","raw_affiliation_strings":["Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002829108"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.7013,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.71853333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1160","last_page":"1165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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":0.998199999332428,"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":0.9958999752998352,"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/jamming","display_name":"Jamming","score":0.8201773166656494},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7711308002471924},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.6274319291114807},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5880063772201538},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5723133683204651},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.482881098985672},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4124305546283722},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3844836950302124},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.31953805685043335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24046161770820618},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21946898102760315},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20968785881996155},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.12568211555480957}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8201773166656494},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7711308002471924},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6274319291114807},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5880063772201538},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5723133683204651},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.482881098985672},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4124305546283722},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3844836950302124},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.31953805685043335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24046161770820618},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21946898102760315},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20968785881996155},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.12568211555480957},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/biorob.2016.7523788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:225686","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/225686","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:225686","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/134372","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":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:225686","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/225686","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1560674429","https://openalex.org/W1666253975","https://openalex.org/W1793293096","https://openalex.org/W1927753533","https://openalex.org/W1975214272","https://openalex.org/W1975230295","https://openalex.org/W1981225035","https://openalex.org/W1990615251","https://openalex.org/W2007924815","https://openalex.org/W2016408784","https://openalex.org/W2027966179","https://openalex.org/W2029744358","https://openalex.org/W2040972412","https://openalex.org/W2046545241","https://openalex.org/W2059242862","https://openalex.org/W2077676902","https://openalex.org/W2094496385","https://openalex.org/W2096836513","https://openalex.org/W2106057630","https://openalex.org/W2111904757","https://openalex.org/W2119911729","https://openalex.org/W2549216668","https://openalex.org/W4248763805","https://openalex.org/W4250058668","https://openalex.org/W6644135095","https://openalex.org/W6730144598"],"related_works":["https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4376605692","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W4367663215","https://openalex.org/W3029431726","https://openalex.org/W2940850594","https://openalex.org/W2028594013","https://openalex.org/W2634411759"],"abstract_inverted_index":{"Moving":[0],"away":[1],"from":[2],"simple":[3,181],"foot":[4,17],"designs":[5],"of":[6,31,43,61,75,121,131,153],"current":[7],"quadruped":[8,23],"robots":[9],"towards":[10],"a":[11,15,44,49,90,111,162],"more":[12],"bio-inspired":[13],"approach,":[14],"novel":[16],"design":[18],"was":[19],"implemented":[20],"on":[21,78],"the":[22,79,98,107,119,128,132,135,140,167,175,185],"robot":[24,133],"Oncilla.":[25],"These":[26,81,144],"feet":[27,100,109,137,176],"mimic":[28],"soft":[29,39],"paw-pads":[30],"dogs":[32],"and":[33,38,69,114,180],"cats":[34],"with":[35,92,97,134],"high":[36,112],"traction":[37],"underlying":[40],"tissue.":[41],"Consisting":[42],"granular":[45,154],"medium":[46],"enclosed":[47],"in":[48,166,178],"flexible":[50],"membrane,":[51],"they":[52],"can":[53],"be":[54],"set":[55],"to":[56,127,160,173],"different":[57,93],"pressure/vacuum":[58],"conditions.":[59],"Tests":[60],"general":[62],"properties":[63],"such":[64],"as":[65,86,88,103],"friction":[66,113],"force,":[67],"damping":[68,116],"deformation":[70],"were":[71,101],"completed":[72],"by":[73],"proof":[74],"concept":[76],"tests":[77,96],"robot.":[80],"included":[82],"flat":[83,122],"ground":[84,123],"locomotion":[85,124,179],"well":[87],"ascending":[89],"slope":[91],"inclination.":[94],"Comparison":[95],"previous":[99,136],"performed":[102],"well,":[104],"showing":[105],"that":[106],"new":[108],"have":[110],"strong":[115],"properties.":[117],"Additionally,":[118],"speed":[120,130],"is":[125,187],"comparable":[126],"maximum":[129],"while":[138],"retaining":[139],"desired":[141],"trotting":[142],"gait.":[143],"are":[145],"promising":[146],"aspects":[147],"for":[148],"legged":[149],"locomotion.":[150],"The":[151],"jamming":[152],"media":[155],"previously":[156],"has":[157],"been":[158],"used":[159],"create":[161],"universal":[163],"gripper":[164],"which":[165],"future":[168],"also":[169],"opens":[170],"up":[171],"opportunities":[172],"use":[174],"both":[177],"object":[182],"manipulation":[183,186],"(although":[184],"not":[188],"tested":[189],"here).":[190]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
