{"id":"https://openalex.org/W2808508330","doi":"https://doi.org/10.1109/lra.2018.2847403","title":"An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size","display_name":"An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size","publication_year":2018,"publication_date":"2018-06-14","ids":{"openalex":"https://openalex.org/W2808508330","doi":"https://doi.org/10.1109/lra.2018.2847403","mag":"2808508330"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2847403","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2018.2847403","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8386768/08385192.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/8386768/08385192.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079207205","display_name":"Zhenishbek Zhakypov","orcid":"https://orcid.org/0000-0001-6566-3591"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Zhenishbek Zhakypov","raw_affiliation_strings":["Reconfigurable Robotics Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6566-3591","affiliations":[{"raw_affiliation_string":"Reconfigurable Robotics Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038333719","display_name":"Florian Heremans","orcid":"https://orcid.org/0000-0002-8506-776X"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Florian Heremans","raw_affiliation_strings":["Vrije Universiteit Brussels, Halle, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussels, Halle, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025220023","display_name":"Jamie Paik","orcid":"https://orcid.org/0000-0003-3869-213X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jamie Paik","raw_affiliation_strings":["Reconfigurable Robotics Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3869-213X","affiliations":[{"raw_affiliation_string":"Reconfigurable Robotics Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9495,"has_fulltext":true,"cited_by_count":110,"citation_normalized_percentile":{"value":0.91713126,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"3","issue":"4","first_page":"2894","last_page":"2901"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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/T10868","display_name":"Soft Robotics and Applications","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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"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/grippers","display_name":"Grippers","score":0.9362305402755737},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7263878583908081},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7170171141624451},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.6488019227981567},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6369167566299438},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4885621964931488},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4739420711994171},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4697948694229126},{"id":"https://openalex.org/keywords/pillar","display_name":"Pillar","score":0.45883625745773315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45368894934654236},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3129844665527344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2766210734844208},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0958852469921112}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9362305402755737},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7263878583908081},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7170171141624451},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.6488019227981567},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6369167566299438},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4885621964931488},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4739420711994171},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4697948694229126},{"id":"https://openalex.org/C105289051","wikidata":"https://www.wikidata.org/wiki/Q1930094","display_name":"Pillar","level":2,"score":0.45883625745773315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45368894934654236},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3129844665527344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2766210734844208},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0958852469921112},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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":2,"locations":[{"id":"doi:10.1109/lra.2018.2847403","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2018.2847403","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8386768/08385192.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:infoscience.epfl.ch:255644","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/146833","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"}],"best_oa_location":{"id":"doi:10.1109/lra.2018.2847403","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2018.2847403","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8386768/08385192.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2808508330.pdf","grobid_xml":"https://content.openalex.org/works/W2808508330.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1492433990","https://openalex.org/W1515749184","https://openalex.org/W1888892744","https://openalex.org/W1911519045","https://openalex.org/W1966308847","https://openalex.org/W1980505912","https://openalex.org/W1980587781","https://openalex.org/W2005806111","https://openalex.org/W2007110156","https://openalex.org/W2007924815","https://openalex.org/W2087152869","https://openalex.org/W2094454490","https://openalex.org/W2097108195","https://openalex.org/W2158145254","https://openalex.org/W2164575107","https://openalex.org/W2202909403","https://openalex.org/W2432137114","https://openalex.org/W2518746096","https://openalex.org/W2614511842","https://openalex.org/W2740763895","https://openalex.org/W2760117801","https://openalex.org/W2783360048"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W3035867307","https://openalex.org/W143055317","https://openalex.org/W2998071126","https://openalex.org/W1989428111","https://openalex.org/W2907262613","https://openalex.org/W4289868286","https://openalex.org/W4399557464","https://openalex.org/W4210853116","https://openalex.org/W2922139741"],"abstract_inverted_index":{"Gripper":[0],"adaptability":[1,67],"to":[2,13,23,51,65,95,115],"handle":[3],"objects":[4,20],"of":[5,131],"different":[6],"shape":[7,54,82,93],"and":[8,55,75,78,98,104,134],"size":[9],"brings":[10],"high":[11],"flexibility":[12],"manipulation.":[14],"Gripping":[15],"flat,":[16,100],"round,":[17],"or":[18],"narrow":[19,101],"poses":[21],"challenges":[22],"even":[24],"the":[25,34,86,129],"most":[26],"sophisticated":[27],"robotic":[28,69],"grippers.":[29,71],"Among":[30],"various":[31],"gripper":[32,64,87,111],"technologies,":[33],"vacuum":[35],"suction":[36,63,70],"grippers":[37],"provide":[38],"design":[39,133],"simplicity,":[40],"yet":[41],"versatility":[42,130],"at":[43],"low":[44],"cost;":[45],"however,":[46],"their":[47,52],"application":[48],"is":[49],"limited":[50],"fixed":[53],"size.":[56],"Here,":[57],"we":[58],"present":[59,124],"an":[60,125],"origami-inspired":[61],"reconfigurable":[62],"address":[66],"with":[68],"Constructed":[72],"from":[73],"rigid":[74],"soft":[76],"components":[77],"driven":[79],"by":[80],"compact":[81],"memory":[83],"alloy":[84],"actuators,":[85],"can":[88],"effectively":[89],"self-fold":[90],"into":[91],"three":[92],"modes":[94],"pick":[96],"large":[97],"small":[99],"cylindrical,":[102],"triangular":[103],"spherical":[105],"objects.":[106],"The":[107],"10-g":[108],"few":[109],"centimeters":[110],"lifts":[112],"loads":[113],"up":[114],"5":[116],"N,":[117],"50":[118],"times":[119],"its":[120],"weight.":[121],"We":[122],"also":[123],"underactuated":[126],"prototype,":[127],"demonstrating":[128],"our":[132],"actuation":[135],"methods.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
