{"id":"https://openalex.org/W2563096832","doi":"https://doi.org/10.1109/iros.2016.7759378","title":"Cat-inspired mechanical design of self-adaptive toes for a legged robot","display_name":"Cat-inspired mechanical design of self-adaptive toes for a legged robot","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563096832","doi":"https://doi.org/10.1109/iros.2016.7759378","mag":"2563096832"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5022860564","display_name":"Huaxin Liu","orcid":"https://orcid.org/0000-0002-3382-8627"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaxin Liu","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340717","display_name":"Weimin Zhang","orcid":"https://orcid.org/0000-0001-6632-0144"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Zhang","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100293910","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0001-6934-5347"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048381186","display_name":"Libo Meng","orcid":"https://orcid.org/0000-0001-9980-3054"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Meng","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101461758","display_name":"Lei Bao","orcid":"https://orcid.org/0000-0002-4154-6419"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Bao","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084234078","display_name":"Aiguo Ming","orcid":"https://orcid.org/0000-0003-2961-0884"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Ming","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101484185","display_name":"Yan Huang","orcid":"https://orcid.org/0000-0002-6083-1039"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Huang","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2425","last_page":"2430"},"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":0.9883999824523926,"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/T12249","display_name":"Veterinary Orthopedics and Neurology","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/3404","display_name":"Small Animals"},"field":{"id":"https://openalex.org/fields/34","display_name":"Veterinary"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/claw","display_name":"Claw","score":0.7424324750900269},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6131691336631775},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.5409930348396301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5346220135688782},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.48384037613868713},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4457102417945862},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.4294132590293884},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4262849688529968},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42483022809028625},{"id":"https://openalex.org/keywords/anchoring","display_name":"Anchoring","score":0.4126676917076111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4016914963722229},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3852163553237915},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3501492142677307},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.175578773021698},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14584770798683167},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1313132643699646}],"concepts":[{"id":"https://openalex.org/C29738020","wikidata":"https://www.wikidata.org/wiki/Q217605","display_name":"Claw","level":2,"score":0.7424324750900269},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6131691336631775},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.5409930348396301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5346220135688782},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.48384037613868713},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4457102417945862},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.4294132590293884},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4262849688529968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42483022809028625},{"id":"https://openalex.org/C18483071","wikidata":"https://www.wikidata.org/wiki/Q168432","display_name":"Anchoring","level":2,"score":0.4126676917076111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4016914963722229},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3852163553237915},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3501492142677307},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.175578773021698},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14584770798683167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1313132643699646},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1507570408","https://openalex.org/W1525865682","https://openalex.org/W1987983695","https://openalex.org/W2004285645","https://openalex.org/W2040669665","https://openalex.org/W2042115902","https://openalex.org/W2047680299","https://openalex.org/W2089183718","https://openalex.org/W2089258758","https://openalex.org/W2100481084","https://openalex.org/W2110536137","https://openalex.org/W2125193285","https://openalex.org/W2128302674","https://openalex.org/W2131833652","https://openalex.org/W2132631312","https://openalex.org/W2139255095","https://openalex.org/W2142992961","https://openalex.org/W2145477224","https://openalex.org/W2149244757","https://openalex.org/W2160555349","https://openalex.org/W2170606171","https://openalex.org/W2218748295","https://openalex.org/W2543039240","https://openalex.org/W6623532300","https://openalex.org/W6630531309","https://openalex.org/W6660373535","https://openalex.org/W6672630269","https://openalex.org/W6673249998","https://openalex.org/W6678669206","https://openalex.org/W6678816643","https://openalex.org/W6679494688"],"related_works":["https://openalex.org/W2978614239","https://openalex.org/W4313425019","https://openalex.org/W2954622157","https://openalex.org/W4293769491","https://openalex.org/W2046106697","https://openalex.org/W2364316053","https://openalex.org/W4308154652","https://openalex.org/W2387009922","https://openalex.org/W1983403475","https://openalex.org/W2028280385"],"abstract_inverted_index":{"Cats":[0],"have":[1,122],"protractible":[2],"claws":[3,14,23,49,64],"to":[4,8,40,65],"fold":[5],"their":[6,37],"tips":[7],"keep":[9],"them":[10],"sharp.":[11],"They":[12],"protract":[13],"while":[15,36,46],"hunting":[16],"and":[17,26,42,86,103,115,131],"pawing":[18],"on":[19,97,119,126],"slippery":[20],"surfaces.":[21],"Protracted":[22],"by":[24,62,82,88],"tendons":[25],"muscles":[27],"of":[28,56],"toes":[29],"can":[30],"help":[31],"cats":[32],"anchoring":[33],"themselves":[34],"steady":[35],"locomotion":[38],"trends":[39],"slip":[41],"releasing":[43],"the":[44,67],"hold":[45],"they":[47],"retract":[48],"intentionally.":[50],"This":[51],"research":[52],"proposes":[53],"a":[54,127,132],"kind":[55],"modularized":[57],"self-adaptive":[58],"toe":[59],"mechanism":[60,75],"inspired":[61],"cat":[63],"improve":[66],"extremities'":[68],"contact":[69,83,117],"performance":[70,118],"for":[71,110],"legged":[72],"robot.":[73],"The":[74],"is":[76,101,108],"constructed":[77],"with":[78],"four-bar":[79],"linkage":[80],"actuated":[81],"reaction":[84],"force":[85],"retracted":[87],"applied":[89],"spring":[90],"tension.":[91],"A":[92],"feasible":[93],"mechanical":[94,134],"design":[95],"based":[96],"several":[98],"essential":[99],"parameters":[100],"introduced":[102],"an":[104],"integrated":[105],"Sole-Toe":[106],"prototype":[107],"built":[109],"experimental":[111],"evaluation.":[112],"Mechanical":[113],"self-adaption":[114],"actual":[116],"specific":[120],"surface":[121],"been":[123],"evaluated":[124],"respectively":[125],"biped":[128],"walking":[129],"platform":[130],"bench-top":[133],"testing.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}