{"id":"https://openalex.org/W2090308111","doi":"https://doi.org/10.1109/iros.2013.6697151","title":"Dynamic surface grasping with directional adhesion","display_name":"Dynamic surface grasping with directional adhesion","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2090308111","doi":"https://doi.org/10.1109/iros.2013.6697151","mag":"2090308111"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot W. Hawkes","raw_affiliation_strings":["Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103338447","display_name":"David L. Christensen","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David L. Christensen","raw_affiliation_strings":["Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054775045","display_name":"Eric V. Eason","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric V. Eason","raw_affiliation_strings":["Dept. of Applied Physics, Stanford University, Stanford, CA, USA","Dept. of Appl. Phys., Stanford Univ., Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Applied Physics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Dept. of Appl. Phys., Stanford Univ., Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064486396","display_name":"Matthew A. Estrada","orcid":"https://orcid.org/0000-0002-5396-8379"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew A. Estrada","raw_affiliation_strings":["Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021147795","display_name":"Matthew Heverly","orcid":null},"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"]},{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Heverly","raw_affiliation_strings":["Robotic Vehicles and Manipulators Group, NASA JPL, Pasadena, CA, USA","Robotic Vehicles & Manipulators Group, NASA JPL, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Vehicles and Manipulators Group, NASA JPL, Pasadena, CA, USA","institution_ids":["https://openalex.org/I4210126231"]},{"raw_affiliation_string":"Robotic Vehicles & Manipulators Group, NASA JPL, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010435340","display_name":"Evan Hilgemann","orcid":null},"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"]},{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Hilgemann","raw_affiliation_strings":["Robotic Vehicles and Manipulators Group, NASA JPL, Pasadena, CA, USA","Robotic Vehicles & Manipulators Group, NASA JPL, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Vehicles and Manipulators Group, NASA JPL, Pasadena, CA, USA","institution_ids":["https://openalex.org/I4210126231"]},{"raw_affiliation_string":"Robotic Vehicles & Manipulators Group, NASA JPL, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650437","display_name":"Hao Jiang","orcid":"https://orcid.org/0000-0002-9427-3602"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083272218","display_name":"Morgan T. Pope","orcid":"https://orcid.org/0000-0002-8393-7493"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Morgan T. Pope","raw_affiliation_strings":["Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","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"]},{"id":"https://openalex.org/I4210126231","display_name":"Robotic Research (United States)","ror":"https://ror.org/035w78024","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126231"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Parness","raw_affiliation_strings":["Robotic Vehicles and Manipulators Group, NASA JPL, Pasadena, CA, USA","Robotic Vehicles & Manipulators Group, NASA JPL, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Vehicles and Manipulators Group, NASA JPL, Pasadena, CA, USA","institution_ids":["https://openalex.org/I4210126231"]},{"raw_affiliation_string":"Robotic Vehicles & Manipulators Group, NASA JPL, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark R. Cutkosky","raw_affiliation_strings":["Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA]","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5487","last_page":"5493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":1.0,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.964900016784668,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.6053393483161926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5812311172485352},{"id":"https://openalex.org/keywords/adhesion","display_name":"Adhesion","score":0.4630112648010254},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4584614038467407},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4544936716556549},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4458499550819397},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.437411367893219},{"id":"https://openalex.org/keywords/adhesive","display_name":"Adhesive","score":0.4198635220527649},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.34412527084350586},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.284589022397995},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.2602860927581787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25770360231399536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21244880557060242},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17920780181884766},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08443930745124817}],"concepts":[{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.6053393483161926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5812311172485352},{"id":"https://openalex.org/C84416704","wikidata":"https://www.wikidata.org/wiki/Q188666","display_name":"Adhesion","level":2,"score":0.4630112648010254},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4584614038467407},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4544936716556549},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4458499550819397},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.437411367893219},{"id":"https://openalex.org/C68928338","wikidata":"https://www.wikidata.org/wiki/Q131790","display_name":"Adhesive","level":3,"score":0.4198635220527649},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.34412527084350586},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.284589022397995},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.2602860927581787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25770360231399536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21244880557060242},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17920780181884766},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08443930745124817},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6697151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1974667452","https://openalex.org/W1979471244","https://openalex.org/W1986605464","https://openalex.org/W1994782783","https://openalex.org/W1996033625","https://openalex.org/W2037321574","https://openalex.org/W2049751180","https://openalex.org/W2058592719","https://openalex.org/W2063984443","https://openalex.org/W2065894019","https://openalex.org/W2087062204","https://openalex.org/W2088486025","https://openalex.org/W2088543823","https://openalex.org/W2125095347","https://openalex.org/W2125778968","https://openalex.org/W2129993509","https://openalex.org/W2142424817","https://openalex.org/W2163974073","https://openalex.org/W2330742316","https://openalex.org/W3028030130"],"related_works":["https://openalex.org/W2371309082","https://openalex.org/W2384401620","https://openalex.org/W2043947924","https://openalex.org/W2389568614","https://openalex.org/W2383439850","https://openalex.org/W4205876811","https://openalex.org/W4361799126","https://openalex.org/W2628640760","https://openalex.org/W2509006425","https://openalex.org/W2468321730"],"abstract_inverted_index":{"Dynamic":[0],"surface":[1,38,49],"grasping":[2,50],"is":[3],"applicable":[4],"to":[5,13,36],"landing":[6],"of":[7,28,47,73,82,93],"micro":[8],"air":[9],"vehicles":[10],"(MAVs)":[11],"and":[12,32,53,62,86,88],"grappling":[14],"objects":[15],"in":[16],"space.":[17],"In":[18],"both":[19],"applications,":[20],"the":[21,25,66,71,74,80,90],"grasper":[22,56,75],"must":[23],"absorb":[24],"kinetic":[26],"energy":[27,83],"a":[29,37],"moving":[30],"object":[31],"provide":[33],"secure":[34],"attachment":[35],"using,":[39],"for":[40],"example,":[41],"gecko-inspired":[42],"directional":[43,95],"adhesives.":[44,96],"Functional":[45],"principles":[46],"dynamic":[48],"are":[51,58],"presented,":[52],"two":[54],"prototype":[55],"designs":[57],"discussed.":[59],"Computer":[60],"simulation":[61],"physical":[63],"testing":[64],"confirms":[65],"expected":[67],"relationships":[68],"concerning":[69],"(i)":[70],"alignment":[72],"at":[76],"initial":[77],"contact,":[78],"(ii)":[79],"absorption":[81],"during":[84],"collision":[85],"rebound,":[87],"(iii)":[89],"force":[91],"limits":[92],"synthetic":[94]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}