{"id":"https://openalex.org/W4413104736","doi":"https://doi.org/10.1109/lra.2025.3597839","title":"Bioinspired Pad and Claw Composite Structure for Soft Robot Grasping and Crawling","display_name":"Bioinspired Pad and Claw Composite Structure for Soft Robot Grasping and Crawling","publication_year":2025,"publication_date":"2025-08-11","ids":{"openalex":"https://openalex.org/W4413104736","doi":"https://doi.org/10.1109/lra.2025.3597839"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3597839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597839","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/A5100331986","display_name":"Huan Wang","orcid":"https://orcid.org/0000-0001-8877-6097"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huan Wang","raw_affiliation_strings":["School of Electrical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8877-6097","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091704948","display_name":"Bingtuan Gao","orcid":"https://orcid.org/0000-0001-6933-0743"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingtuan Gao","raw_affiliation_strings":["School of Electrical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6933-0743","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110410788","display_name":"Dehui Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dehui Zhao","raw_affiliation_strings":["School of Electrical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0004-5508-5256","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102235936","display_name":"Guoqiang Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101451","display_name":"Nanjing University of Industry Technology","ror":"https://ror.org/00qf07q44","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210101451"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoqiang Gao","raw_affiliation_strings":["Industrial Perception and Intelligent Manufacturing Equipment Engineering Research Center of Jiangsu Province, Nanjing Vocational University of Industry Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5454-698X","affiliations":[{"raw_affiliation_string":"Industrial Perception and Intelligent Manufacturing Equipment Engineering Research Center of Jiangsu Province, Nanjing Vocational University of Industry Technology, Nanjing, China","institution_ids":["https://openalex.org/I4210101451"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100331986"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":1.2684,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79639557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":"10","first_page":"9678","last_page":"9685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"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":0.9972000122070312,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9884999990463257,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9757999777793884,"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/crawling","display_name":"Crawling","score":0.8580150604248047},{"id":"https://openalex.org/keywords/claw","display_name":"Claw","score":0.7778981924057007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5380285382270813},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.49554312229156494},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4604955017566681},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4186646342277527},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4176110029220581},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.406615287065506},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30330222845077515},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2820919156074524},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24762800335884094},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.22659173607826233},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.2173052430152893}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8580150604248047},{"id":"https://openalex.org/C29738020","wikidata":"https://www.wikidata.org/wiki/Q217605","display_name":"Claw","level":2,"score":0.7778981924057007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5380285382270813},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.49554312229156494},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4604955017566681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4186646342277527},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4176110029220581},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.406615287065506},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30330222845077515},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2820919156074524},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24762800335884094},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.22659173607826233},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.2173052430152893}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3597839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597839","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2000359430","https://openalex.org/W2029744358","https://openalex.org/W2048846773","https://openalex.org/W2052992439","https://openalex.org/W2055358056","https://openalex.org/W2114924842","https://openalex.org/W2551680314","https://openalex.org/W2731747246","https://openalex.org/W2746752553","https://openalex.org/W2790084889","https://openalex.org/W2792441069","https://openalex.org/W2809174753","https://openalex.org/W2913305350","https://openalex.org/W2989530023","https://openalex.org/W3062776429","https://openalex.org/W3130943020","https://openalex.org/W3204173919","https://openalex.org/W3213189848","https://openalex.org/W3217370814","https://openalex.org/W4200165096","https://openalex.org/W4211033363","https://openalex.org/W4320486747","https://openalex.org/W4362653520","https://openalex.org/W4367175199","https://openalex.org/W4378807879","https://openalex.org/W4383109191","https://openalex.org/W4385656510","https://openalex.org/W4389890305","https://openalex.org/W4390204108","https://openalex.org/W4390224464","https://openalex.org/W4391268389","https://openalex.org/W4393161284","https://openalex.org/W4399450814","https://openalex.org/W4401750546","https://openalex.org/W4402830243","https://openalex.org/W4403600932","https://openalex.org/W4405196983","https://openalex.org/W4411446396","https://openalex.org/W4413334240"],"related_works":["https://openalex.org/W4362553897","https://openalex.org/W2401080772","https://openalex.org/W2011147476","https://openalex.org/W2169421841","https://openalex.org/W2152127643","https://openalex.org/W2761515207","https://openalex.org/W2134049477","https://openalex.org/W4312812092","https://openalex.org/W4390135167","https://openalex.org/W2968643431"],"abstract_inverted_index":{"The":[0,80,116],"meat":[1],"pads":[2,37,61,178],"and":[3,25,38,46,60,71,74,90,112,121,142,160,168,179],"claws":[4,39,180],"serve":[5],"as":[6],"crucial":[7],"functional":[8],"components":[9],"of":[10,27,58,94,118,126,134,147,186],"cats'":[11],"paws,":[12],"which":[13],"together":[14],"enable":[15],"the":[16,69,88,95,98,106,114,119,122,127,131,135,143,148,172,184],"paws":[17],"to":[18,86,104,110,189],"exhibit":[19],"remarkable":[20],"dexterity.":[21],"Inspired":[22],"by":[23,77,139],"extension":[24],"retraction":[26],"cat's":[28],"claws,":[29],"we":[30,156],"have":[31],"designed":[32,157],"a":[33,64,158,161],"composite":[34,174],"structure":[35,54,120,149,175],"combining":[36],"that":[40,108,171],"can":[41,181],"switch":[42,105],"between":[43],"pad":[44,136],"state":[45,48],"claw":[47,65,128],"for":[49],"soft":[50,187],"robotics":[51],"applications.":[52],"This":[53],"is":[55,83,101,137],"mainly":[56,84,102],"composed":[57],"belts":[59],"equipped":[62],"with":[63],"array,":[66],"thereby":[67],"forming":[68],"inner":[70,99],"outer":[72,81],"coils":[73],"being":[75],"driven":[76],"two":[78],"motors.":[79],"coil":[82,100],"used":[85,103],"change":[87],"forward":[89],"backward":[91],"swing":[92],"angle":[93],"structure,":[96,167],"while":[97],"state,":[107],"is,":[109],"extend":[111],"retract":[113],"claws.":[115],"kinematics":[117],"contact":[123,152],"point":[124],"model":[125],"are":[129,153],"established,":[130],"bending":[132],"curve":[133],"fitted":[138],"an":[140],"algorithm,":[141],"overall":[144],"mechanical":[145],"properties":[146],"during":[150],"objects":[151],"discussed.":[154],"Finally,":[155],"gripper":[159],"quadruped":[162],"robot":[163],"based":[164,176],"on":[165,177],"this":[166],"experimentally":[169],"verified":[170],"novel":[173],"significantly":[182],"enhance":[183],"adaptability":[185],"robots":[188],"different":[190],"tasks.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
