{"id":"https://openalex.org/W2789286234","doi":"https://doi.org/10.1109/lra.2018.2794517","title":"Passive Spine Gripper for Free-Climbing Robot in Extreme Terrain","display_name":"Passive Spine Gripper for Free-Climbing Robot in Extreme Terrain","publication_year":2018,"publication_date":"2018-01-17","ids":{"openalex":"https://openalex.org/W2789286234","doi":"https://doi.org/10.1109/lra.2018.2794517","mag":"2789286234"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2794517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2794517","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5041440352","display_name":"Kenji Nagaoka","orcid":"https://orcid.org/0000-0003-2937-0964"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kenji Nagaoka","raw_affiliation_strings":["Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2937-0964","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078002950","display_name":"Hayato Minote","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hayato Minote","raw_affiliation_strings":["Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026846281","display_name":"K. Maruya","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kyohei Maruya","raw_affiliation_strings":["Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085353704","display_name":"Yuki Shirai","orcid":"https://orcid.org/0000-0003-4729-4256"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Shirai","raw_affiliation_strings":["Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4729-4256","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Yoshida","raw_affiliation_strings":["Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3889-5877","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006579798","display_name":"Takeshi Hakamada","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takeshi Hakamada","raw_affiliation_strings":["iSpace, Inc., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iSpace, Inc., Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023496193","display_name":"Hirotaka Sawada","orcid":"https://orcid.org/0000-0002-8731-6889"},"institutions":[{"id":"https://openalex.org/I2800865746","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirotaka Sawada","raw_affiliation_strings":["Space Exploration Innovation Hub Center, JAXA, Sagamihara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Space Exploration Innovation Hub Center, JAXA, Sagamihara, Japan","institution_ids":["https://openalex.org/I2800865746"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107726162","display_name":"Takashi Kubota","orcid":null},"institutions":[{"id":"https://openalex.org/I2800865746","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Kubota","raw_affiliation_strings":["Space Exploration Innovation Hub Center, JAXA, Sagamihara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Space Exploration Innovation Hub Center, JAXA, Sagamihara, Japan","institution_ids":["https://openalex.org/I2800865746"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5041440352"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":2.3402,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.8797807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"3","issue":"3","first_page":"1765","last_page":"1770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9866999983787537,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.840674638748169},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.7725581526756287},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7456820607185364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7232083082199097},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6766605377197266},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6726958751678467},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5479556918144226},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46899938583374023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4080360233783722},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3686196506023407},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21335110068321228},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18616756796836853},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13961264491081238},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07103762030601501}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.840674638748169},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.7725581526756287},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7456820607185364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7232083082199097},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6766605377197266},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6726958751678467},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5479556918144226},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46899938583374023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4080360233783722},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3686196506023407},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21335110068321228},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18616756796836853},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13961264491081238},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07103762030601501},{"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2794517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2794517","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1677552498","https://openalex.org/W1969570716","https://openalex.org/W1993770485","https://openalex.org/W1998139466","https://openalex.org/W2005131721","https://openalex.org/W2016157593","https://openalex.org/W2020271561","https://openalex.org/W2064455269","https://openalex.org/W2065177705","https://openalex.org/W2065596651","https://openalex.org/W2073454543","https://openalex.org/W2080188816","https://openalex.org/W2091769888","https://openalex.org/W2114924842","https://openalex.org/W2131945542","https://openalex.org/W2157936767","https://openalex.org/W2343762060","https://openalex.org/W2587431936","https://openalex.org/W2738870766","https://openalex.org/W4235469158","https://openalex.org/W6636973726","https://openalex.org/W6673575613"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W1640559846"],"abstract_inverted_index":{"In":[0,90],"this":[1,91],"letter,":[2,92],"we":[3,21,93,106,150],"present":[4,94],"a":[5,26,128,158,180],"passive":[6],"spine":[7,62],"gripper":[8,66],"that":[9,132,166,176],"can":[10,169],"hold":[11],"rough":[12,81],"rocky":[13],"surfaces":[14],"of":[15,40,51,63,79,100,122,147],"boulders":[16],"on":[17,75,139,157],"cliff":[18],"walls,":[19],"and":[20,54,72,83,98,160],"discuss":[22],"its":[23,108],"application":[24],"to":[25,48,70,76,153,179],"four-limbed":[27,130],"robot":[28,36,131],"for":[29,56],"free-climbing":[30],"in":[31,42],"extreme":[32],"terrain.":[33],"The":[34,60,163],"limbed":[35],"has":[37],"four":[38],"degrees":[39],"freedom":[41],"each":[43,140],"limb,":[44],"where":[45],"three":[46],"are":[47],"drive":[49],"joints":[50],"the":[52,58,64,80,95,101,114,118,123,136,144,148,167],"limb":[53],"one":[55],"releasing":[57],"gripper.":[59,125],"fine":[61],"proposed":[65,102],"also":[67],"enables":[68],"it":[69,84,152],"passively":[71],"adaptively":[73],"latch":[74],"microscopic":[77],"asperities":[78],"surface,":[82],"is":[85,133,177],"thus":[86],"an":[87],"efficient":[88],"mechanism.":[89],"fundamental":[96],"design":[97],"mechanism":[99],"gripper,":[103],"after":[104],"which":[105],"introduce":[107],"static":[109],"gripping":[110,115,120],"model.":[111],"We":[112,126],"verify":[113],"model":[116],"by":[117],"experimental":[119],"performance":[121],"prototype":[124,168],"show":[127,165],"lightweight":[129],"equipped":[134],"with":[135],"grippers":[137],"mounted":[138],"limb.":[141],"To":[142],"evaluate":[143],"climbing":[145,155],"capabilities":[146],"robot,":[149],"use":[151],"perform":[154],"experiments":[156],"rugged":[159],"steep":[161],"slope.":[162],"results":[164],"safely":[170],"climb":[171],"over":[172],"such":[173],"challenging":[174],"terrain":[175],"similar":[178],"gravity":[181],"offload":[182],"system.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}