{"id":"https://openalex.org/W4404576846","doi":"https://doi.org/10.1109/lra.2024.3504238","title":"Trident: A Multi-Functional Soft Appendage for Underwater Locomotion and Grasping","display_name":"Trident: A Multi-Functional Soft Appendage for Underwater Locomotion and Grasping","publication_year":2024,"publication_date":"2024-11-21","ids":{"openalex":"https://openalex.org/W4404576846","doi":"https://doi.org/10.1109/lra.2024.3504238"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3504238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3504238","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/A5008568696","display_name":"Aysha Ali Samra Ali Alshehhi","orcid":"https://orcid.org/0000-0002-4714-412X"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Aysha A. Samra AlShehhi","raw_affiliation_strings":["Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-4714-412X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033013777","display_name":"Costanza Armanini","orcid":"https://orcid.org/0000-0002-8055-6257"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Costanza Armanini","raw_affiliation_strings":["Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-8055-6257","affiliations":[{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020039417","display_name":"Anup Teejo Mathew","orcid":"https://orcid.org/0000-0003-4022-7501"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Anup Teejo Mathew","raw_affiliation_strings":["Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0003-4022-7501","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026717128","display_name":"Daniel Feliu-Taleg\u00f3n","orcid":"https://orcid.org/0000-0003-1206-0644"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Daniel Feliu-Talegon","raw_affiliation_strings":["Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0003-1206-0644","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043823023","display_name":"Federico Renda","orcid":"https://orcid.org/0000-0002-1833-9809"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Federico Renda","raw_affiliation_strings":["Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-1833-9809","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008568696"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":null,"apc_paid":null,"fwci":0.1767,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49006519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"1","first_page":"436","last_page":"443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"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/trident","display_name":"Trident","score":0.8309463858604431},{"id":"https://openalex.org/keywords/appendage","display_name":"Appendage","score":0.7902578115463257},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5925304889678955},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.43100595474243164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.416719913482666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30335521697998047},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.255414754152298},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18404778838157654},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1803504228591919},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.16131481528282166},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.09853571653366089}],"concepts":[{"id":"https://openalex.org/C2777909563","wikidata":"https://www.wikidata.org/wiki/Q271628","display_name":"Trident","level":2,"score":0.8309463858604431},{"id":"https://openalex.org/C41451933","wikidata":"https://www.wikidata.org/wiki/Q13415392","display_name":"Appendage","level":2,"score":0.7902578115463257},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5925304889678955},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.43100595474243164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.416719913482666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30335521697998047},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.255414754152298},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18404778838157654},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1803504228591919},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.16131481528282166},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.09853571653366089},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3504238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3504238","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":[{"id":"https://metadata.un.org/sdg/14","score":0.7699999809265137,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1485346879","https://openalex.org/W1592964660","https://openalex.org/W1608215728","https://openalex.org/W1975108078","https://openalex.org/W1981581109","https://openalex.org/W2463052324","https://openalex.org/W2560730116","https://openalex.org/W2605221221","https://openalex.org/W2618978088","https://openalex.org/W2800392488","https://openalex.org/W2904206496","https://openalex.org/W2993799976","https://openalex.org/W3010777190","https://openalex.org/W3015303069","https://openalex.org/W3193380182","https://openalex.org/W3210838283","https://openalex.org/W3213402676","https://openalex.org/W4220988845","https://openalex.org/W4247686424","https://openalex.org/W4286377395","https://openalex.org/W4296781173","https://openalex.org/W4304092207","https://openalex.org/W4384922634","https://openalex.org/W4394581112","https://openalex.org/W4399469378","https://openalex.org/W4401036940","https://openalex.org/W4401183579"],"related_works":["https://openalex.org/W4230348452","https://openalex.org/W2046682228","https://openalex.org/W2162363184","https://openalex.org/W1991509461","https://openalex.org/W4245382322","https://openalex.org/W2906485148","https://openalex.org/W2069491779","https://openalex.org/W1538945216","https://openalex.org/W2905853915","https://openalex.org/W2187544349"],"abstract_inverted_index":{"Soft":[0],"underwater":[1,42,106,142],"robots,":[2],"designed":[3],"to":[4,20,63],"mimic":[5],"the":[6,126,132],"movement":[7],"and":[8,18,23,34,46,58,66,104,111,131,146],"adaptability":[9],"of":[10,101,119,128,134],"aquatic":[11],"animals,":[12],"use":[13],"flexible":[14],"materials":[15,130],"like":[16],"silicone":[17],"rubber":[19],"change":[21],"shape":[22],"navigate":[24],"complex":[25,68],"environments.":[26],"These":[27],"robots":[28],"can":[29],"squeeze":[30],"through":[31],"narrow":[32],"spaces":[33],"avoid":[35],"obstacles,":[36],"making":[37],"them":[38],"ideal":[39],"for":[40,141],"exploring":[41],"caves,":[43],"coral":[44],"reefs,":[45],"shipwrecks":[47],"without":[48],"harming":[49],"marine":[50,147],"life.":[51],"Their":[52],"embodied":[53],"intelligence":[54],"integrates":[55],"sensing,":[56],"actuation,":[57],"control,":[59],"allowing":[60],"adaptive":[61],"responses":[62],"environmental":[64,144],"stimuli":[65],"enabling":[67],"tasks":[69],"with":[70,93],"minimal":[71],"external":[72],"control.":[73],"In":[74],"this":[75],"letter,":[76],"we":[77],"introduce":[78],"<italic":[79],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[80],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Trident</i>,":[81],"a":[82,138],"novel":[83],"hybrid":[84],"soft-rigid":[85],"robot":[86,98],"developed":[87],"by":[88],"connecting":[89],"three":[90],"soft":[91,129],"modules":[92],"integrated":[94],"tendons.":[95],"This":[96,122],"multi-functional":[97],"is":[99],"capable":[100],"both":[102],"swimming":[103],"grasping":[105],"objects.":[107],"The":[108],"robot's":[109],"design":[110,124],"fabrication":[112],"processes":[113],"are":[114],"detailed,":[115],"alongside":[116],"experimental":[117],"analyses":[118],"its":[120],"performance.":[121],"innovative":[123],"combines":[125],"flexibility":[127],"strength":[133],"rigid":[135],"structures,":[136],"providing":[137],"versatile":[139],"solution":[140],"exploration,":[143],"monitoring,":[145],"research.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
