{"id":"https://openalex.org/W4389665952","doi":"https://doi.org/10.1109/iros55552.2023.10341428","title":"Rapid Grasping of Fabric Using Bionic Soft Grippers with Elastic Instability","display_name":"Rapid Grasping of Fabric Using Bionic Soft Grippers with Elastic Instability","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665952","doi":"https://doi.org/10.1109/iros55552.2023.10341428"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5047358373","display_name":"Zechen Xiong","orcid":"https://orcid.org/0000-0003-4210-1873"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zechen Xiong","raw_affiliation_strings":["Columbia University,Dept. of Earth and Environment Engineering,New York,NY,USA,10027"],"affiliations":[{"raw_affiliation_string":"Columbia University,Dept. of Earth and Environment Engineering,New York,NY,USA,10027","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101699084","display_name":"Zihan Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zihan Guo","raw_affiliation_strings":["Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027"],"affiliations":[{"raw_affiliation_string":"Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409827","display_name":"Yuan Li","orcid":"https://orcid.org/0000-0003-3600-3118"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Yuan","raw_affiliation_strings":["Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027"],"affiliations":[{"raw_affiliation_string":"Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011865422","display_name":"Yufeng Su","orcid":"https://orcid.org/0000-0003-1675-1776"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yufeng Su","raw_affiliation_strings":["Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027"],"affiliations":[{"raw_affiliation_string":"Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100779101","display_name":"Yitong Liu","orcid":"https://orcid.org/0000-0003-0728-3018"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yitong Liu","raw_affiliation_strings":["Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027"],"affiliations":[{"raw_affiliation_string":"Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025894735","display_name":"Hod Lipson","orcid":"https://orcid.org/0000-0003-0769-4618"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hod Lipson","raw_affiliation_strings":["Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027"],"affiliations":[{"raw_affiliation_string":"Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5047358373"],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":0.45,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59278487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6449","last_page":"6455"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9993000030517578,"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":0.971520185470581},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5277239084243774},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5261620879173279},{"id":"https://openalex.org/keywords/span","display_name":"Span (engineering)","score":0.5229825973510742},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5008068084716797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4896877110004425},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.38342756032943726},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.36062493920326233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34985220432281494},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33002525568008423},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09957414865493774}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.971520185470581},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5277239084243774},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5261620879173279},{"id":"https://openalex.org/C2778753569","wikidata":"https://www.wikidata.org/wiki/Q1960395","display_name":"Span (engineering)","level":2,"score":0.5229825973510742},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5008068084716797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4896877110004425},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.38342756032943726},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.36062493920326233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34985220432281494},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33002525568008423},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09957414865493774},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1482343016","https://openalex.org/W1486284469","https://openalex.org/W1515749184","https://openalex.org/W2007924815","https://openalex.org/W2072936038","https://openalex.org/W2419131857","https://openalex.org/W2432137114","https://openalex.org/W2784648116","https://openalex.org/W2906611782","https://openalex.org/W2911689559","https://openalex.org/W2912313898","https://openalex.org/W2967503003","https://openalex.org/W2972391986","https://openalex.org/W3037067198","https://openalex.org/W3120178475","https://openalex.org/W3133410700","https://openalex.org/W3145834777","https://openalex.org/W3156351915","https://openalex.org/W3163443358","https://openalex.org/W3185927443","https://openalex.org/W4304098865","https://openalex.org/W4308426233","https://openalex.org/W4383109330","https://openalex.org/W6846097485"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W2903025760","https://openalex.org/W1640559846"],"abstract_inverted_index":{"Robot":[0],"grasping":[1,45,65],"is":[2,130],"subject":[3],"to":[4,18,37,62,88,122],"an":[5],"inherent":[6],"tradeoff:":[7],"Grippers":[8],"with":[9],"a":[10,15,25,39,50,56,80,95,119,125,164],"large":[11,40],"span":[12,52,144],"typically":[13,47],"take":[14],"longer":[16],"time":[17],"close,":[19],"and":[20,66,91,113,129,133,145,158,169,172],"fast":[21],"grippers":[22,33],"usually":[23],"cover":[24],"small":[26],"span.":[27,97],"However,":[28],"many":[29],"practical":[30],"applications":[31],"of":[32,53,124,143,166],"require":[34],"the":[35,60,103,105,138,151,156],"ability":[36,61],"close":[38,115],"distance":[41],"rapidly.":[42],"For":[43],"example,":[44],"cloth":[46],"requires":[48],"pressing":[49],"wide":[51,96],"fabric":[54],"into":[55],"graspable":[57],"cusp.":[58],"Besides,":[59],"perform":[63],"human-like":[64],"ease":[67],"offabrication":[68],"are":[69],"also":[70],"very":[71],"important":[72],"for":[73],"new":[74],"soft":[75],"grippers.":[76],"Here,":[77],"we":[78],"demonstrate":[79],"human-finger-inspired":[81],"snapping":[82],"gripper":[83,106,140,162],"that":[84,123],"exploits":[85],"elastic":[86],"instability":[87],"achieve":[89,173],"rapid":[90],"reversible":[92],"closing":[93],"over":[94],"Using":[98],"prestressed":[99],"semi-rigid":[100],"material":[101],"as":[102],"skeleton,":[104],"fingers":[107],"can":[108],"widely":[109],"open":[110],"(86":[111],"mm)":[112],"rapidly":[114],"(46":[116],"ms)":[117],"following":[118],"trajectory":[120],"similar":[121],"thumb-index":[126],"finger":[127],"pinching,":[128],"2.7":[131],"times":[132,135],"10.9":[134],"better":[136],"than":[137],"reference":[139],"in":[141],"terms":[142],"speed,":[146],"respectively.":[147],"We":[148],"theoretically":[149],"give":[150],"design":[152],"principle,":[153],"simulatively":[154],"verify":[155],"method,":[157],"experimentally":[159],"test":[160],"this":[161],"on":[163],"variety":[165],"rigid,":[167],"flexible,":[168],"limp":[170],"objects":[171],"good":[174],"mechanical":[175],"performance.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-11T23:08:45.486102","created_date":"2025-10-10T00:00:00"}