{"id":"https://openalex.org/W4313406104","doi":"https://doi.org/10.1109/lra.2022.3227868","title":"The Robustness of Tether Friction in Non-Idealized Terrains","display_name":"The Robustness of Tether Friction in Non-Idealized Terrains","publication_year":2022,"publication_date":"2022-12-08","ids":{"openalex":"https://openalex.org/W4313406104","doi":"https://doi.org/10.1109/lra.2022.3227868"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3227868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3227868","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/A5057991902","display_name":"Justin J. Page","orcid":"https://orcid.org/0000-0002-9434-524X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin J. Page","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9434-524X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075966008","display_name":"Laura K. Treers","orcid":"https://orcid.org/0000-0001-6740-7794"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura K. Treers","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6740-7794","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022756823","display_name":"Steven Jens Jorgensen","orcid":"https://orcid.org/0000-0003-1305-8714"},"institutions":[{"id":"https://openalex.org/I4210149382","display_name":"Johnson Space Center","ror":"https://ror.org/04xx4z452","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210124779","https://openalex.org/I4210149382"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.J. Jorgensen","raw_affiliation_strings":["Johnson Space Center, NASA, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-1305-8714","affiliations":[{"raw_affiliation_string":"Johnson Space Center, NASA, Houston, TX, USA","institution_ids":["https://openalex.org/I4210149382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073886799","display_name":"Ronald S. Fearing","orcid":"https://orcid.org/0000-0001-6242-5379"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.S. Fearing","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of California, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6242-5379","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021360260","display_name":"Hannah S. Stuart","orcid":"https://orcid.org/0000-0003-4628-6561"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hannah S. Stuart","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4628-6561","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5971,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62478768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":"1","first_page":"424","last_page":"431"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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/payload","display_name":"Payload (computing)","score":0.7557654976844788},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5317942500114441},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5041323900222778},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4144511818885803},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23325049877166748},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1435805857181549}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7557654976844788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5317942500114441},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5041323900222778},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4144511818885803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23325049877166748},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1435805857181549},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3227868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3227868","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":[{"score":0.47999998927116394,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W81556668","https://openalex.org/W93986270","https://openalex.org/W1964168076","https://openalex.org/W1974461875","https://openalex.org/W1982387580","https://openalex.org/W1994782783","https://openalex.org/W2026999073","https://openalex.org/W2048755217","https://openalex.org/W2051554986","https://openalex.org/W2053369483","https://openalex.org/W2082927831","https://openalex.org/W2105556873","https://openalex.org/W2110375531","https://openalex.org/W2146133866","https://openalex.org/W2157866304","https://openalex.org/W2163995997","https://openalex.org/W2170561121","https://openalex.org/W2197847098","https://openalex.org/W2302294167","https://openalex.org/W2316261543","https://openalex.org/W2415498964","https://openalex.org/W2467774239","https://openalex.org/W2737491236","https://openalex.org/W2766821096","https://openalex.org/W2808377102","https://openalex.org/W2898206653","https://openalex.org/W2898729409","https://openalex.org/W2919036891","https://openalex.org/W2967747188","https://openalex.org/W3022202920","https://openalex.org/W3096653148","https://openalex.org/W3114709812","https://openalex.org/W3126809089","https://openalex.org/W3207155294","https://openalex.org/W3217370814","https://openalex.org/W4213431490","https://openalex.org/W4235284386","https://openalex.org/W6603917321","https://openalex.org/W6744966081","https://openalex.org/W6760468943","https://openalex.org/W6787696993","https://openalex.org/W7011601623"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474","https://openalex.org/W2109516765","https://openalex.org/W4288094128"],"abstract_inverted_index":{"Reduced":[0],"traction":[1],"limits":[2],"the":[3,38,126,163],"ability":[4],"of":[5,91,99,130,140,166,178],"mobile":[6,119],"robotic":[7],"systems":[8],"to":[9,28,36,67,121,136,147,158,184],"resist":[10],"or":[11,78,85,111],"apply":[12],"large":[13],"external":[14],"loads,":[15],"such":[16],"as":[17,149],"tugging":[18],"a":[19,30,89,97,131,141,154,167,179],"massive":[20,156],"payload.":[21],"One":[22],"simple":[23,164],"and":[24,41,128,143],"versatile":[25],"solution":[26],"is":[27,115],"wrap":[29],"tether":[31],"around":[32,170],"naturally":[33],"occurring":[34],"objects":[35,61,106],"leverage":[37],"capstan":[39,51,80],"effect":[40],"create":[42],"exponentially-amplified":[43],"holding":[44,176],"forces.":[45],"Experiments":[46],"show":[47,162],"that":[48],"an":[49,150],"idealized":[50],"model":[52],"explains":[53],"force":[54,177],"amplification":[55,73],"experienced":[56],"on":[57],"common":[58],"irregular":[59],"outdoor":[60],"\u2013":[62],"trees,":[63],"rocks,":[64],"posts.":[65],"Robust":[66],"variable":[68],"environmental":[69],"conditions,":[70],"this":[71],"exponential":[72],"method":[74],"can":[75],"harness":[76],"single":[77],"multiple":[79],"objects,":[81],"either":[82],"in":[83,86,173],"series":[84],"parallel":[87],"with":[88,117],"team":[90],"robots.":[92],"This":[93,113],"adaptability":[94],"allows":[95],"for":[96,104,153],"range":[98],"potential":[100],"configurations":[101],"especially":[102],"useful":[103],"when":[105],"cannot":[107],"be":[108],"fully":[109],"encircled":[110],"gripped.":[112],"versatility":[114],"demonstrated":[116],"teleoperated":[118],"platforms":[120],"<italic":[122,133,144],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[123,134,145],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(1)</i>":[124],"control":[125,139],"lowering":[127],"arrest":[129],"payload,":[132,142],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(2)</i>":[135],"achieve":[137],"planar":[138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(3)</i>":[146],"act":[148],"anchor":[151],"point":[152],"more":[155],"platform":[157,181],"winch":[159],"towards.":[160],"We":[161],"addition":[165],"tether,":[168],"wrapped":[169],"shallow":[171],"stones":[172],"sand,":[174],"amplifies":[175],"low-traction":[180],"by":[182],"up":[183],"774x.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
