{"id":"https://openalex.org/W2167088510","doi":"https://doi.org/10.1109/icra.2012.6224692","title":"Demonstrations of gravity-independent mobility and drilling on natural rock using microspines","display_name":"Demonstrations of gravity-independent mobility and drilling on natural rock using microspines","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2167088510","doi":"https://doi.org/10.1109/icra.2012.6224692","mag":"2167088510"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224692","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091531962","display_name":"Aaron Parness","orcid":"https://orcid.org/0000-0002-5250-7917"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Parness","raw_affiliation_strings":["Robotics Section, NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Section, NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028400040","display_name":"Matthew Frost","orcid":"https://orcid.org/0000-0001-6821-170X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Frost","raw_affiliation_strings":["Robotics Section, NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Section, NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011219370","display_name":"Jonathan P. King","orcid":"https://orcid.org/0000-0002-0875-8794"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonathan P. King","raw_affiliation_strings":["Ohio State Uinversity, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ohio State Uinversity, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025714621","display_name":"Nitish Thatte","orcid":"https://orcid.org/0000-0002-4386-4592"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nitish Thatte","raw_affiliation_strings":["Rutgers University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3547","last_page":"3548"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/geology","display_name":"Geology","score":0.7404623627662659},{"id":"https://openalex.org/keywords/drilling","display_name":"Drilling","score":0.6042030453681946},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.5798065662384033},{"id":"https://openalex.org/keywords/drill","display_name":"Drill","score":0.559869647026062},{"id":"https://openalex.org/keywords/coring","display_name":"Coring","score":0.5447176694869995},{"id":"https://openalex.org/keywords/ridge","display_name":"Ridge","score":0.4768998622894287},{"id":"https://openalex.org/keywords/borehole","display_name":"Borehole","score":0.46080660820007324},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.32213500142097473},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.21531060338020325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17306330800056458},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14088299870491028},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09506553411483765}],"concepts":[{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.7404623627662659},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.6042030453681946},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.5798065662384033},{"id":"https://openalex.org/C173736775","wikidata":"https://www.wikidata.org/wiki/Q58964","display_name":"Drill","level":2,"score":0.559869647026062},{"id":"https://openalex.org/C6385141","wikidata":"https://www.wikidata.org/wiki/Q5170558","display_name":"Coring","level":3,"score":0.5447176694869995},{"id":"https://openalex.org/C32277403","wikidata":"https://www.wikidata.org/wiki/Q740445","display_name":"Ridge","level":2,"score":0.4768998622894287},{"id":"https://openalex.org/C150560799","wikidata":"https://www.wikidata.org/wiki/Q502102","display_name":"Borehole","level":2,"score":0.46080660820007324},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.32213500142097473},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.21531060338020325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17306330800056458},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14088299870491028},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09506553411483765},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224692","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2002774190","https://openalex.org/W2045430031","https://openalex.org/W2114924842","https://openalex.org/W2133200446","https://openalex.org/W2174718931"],"related_works":["https://openalex.org/W2386566905","https://openalex.org/W2382310363","https://openalex.org/W2802812426","https://openalex.org/W2365759049","https://openalex.org/W2387236160","https://openalex.org/W2363252719","https://openalex.org/W1993013270","https://openalex.org/W2802757814","https://openalex.org/W2014407825","https://openalex.org/W2071879972"],"abstract_inverted_index":{"The":[0],"video":[1],"presents":[2],"microspine-based":[3],"anchors":[4,74],"being":[5],"developed":[6],"for":[7,18,80],"gripping":[8],"rocks":[9],"on":[10,20,26,35],"the":[11,43,57,60,76],"surfaces":[12],"of":[13,30,59,70,95,102],"comets":[14],"and":[15,23,52],"asteroids,":[16],"or":[17],"use":[19],"cliff":[21],"faces":[22],"lava":[24],"tubes":[25],"Mars.":[27],"Two":[28],"types":[29],"anchor":[31],"prototypes":[32],"are":[33],"shown":[34,90],"supporting":[36],"forces":[37],"in":[38,115,126],"all":[39],"directions":[40],"away":[41],"from":[42],"rock;":[44],">;160":[45],"N":[46,49,54],"tangent,":[47],">;150":[48],"at":[50],"45\u00b0,":[51],">;180":[53],"normal":[55],"to":[56,75],"surface":[58],"rock.":[61],"A":[62],"compliant":[63],"robotic":[64],"ankle":[65],"with":[66],"two":[67],"active":[68],"degrees":[69],"freedom":[71],"interfaces":[72],"these":[73],"Lemur":[77],"IIB":[78],"robot":[79],"future":[81],"climbing":[82],"trials.":[83],"Finally,":[84],"a":[85,99],"rotary":[86],"percussive":[87],"drill":[88],"is":[89],"coring":[91],"into":[92],"rock":[93,124],"regardless":[94],"gravitational":[96],"orientation.":[97],"As":[98],"harder-than-zero-g":[100],"proof":[101],"concept,":[103],"inverted":[104],"drilling":[105],"was":[106],"performed":[107],"creating":[108],"20mm":[109],"diameter":[110,123],"boreholes":[111],"83":[112],"mm":[113,122],"deep":[114],"vesicular":[116],"basalt":[117],"samples":[118],"while":[119],"retaining":[120],"12":[121],"cores":[125],"3-6":[127],"pieces.":[128]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}