{"id":"https://openalex.org/W4417251969","doi":"https://doi.org/10.1109/lra.2025.3643330","title":"Improving Gecko Adhesive Performance in Robotic Systems Through Trajectory Optimization","display_name":"Improving Gecko Adhesive Performance in Robotic Systems Through Trajectory Optimization","publication_year":2025,"publication_date":"2025-12-11","ids":{"openalex":"https://openalex.org/W4417251969","doi":"https://doi.org/10.1109/lra.2025.3643330"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3643330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643330","pdf_url":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055797207","display_name":"Dror Kobo","orcid":null},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Dror Kobo","raw_affiliation_strings":["School of Mechanical Engineering, Tel Aviv University, Tel Aviv, Israel"],"raw_orcid":"https://orcid.org/0009-0005-2786-3994","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tel Aviv University, Tel Aviv, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048980839","display_name":"Goren Gordon","orcid":"https://orcid.org/0000-0002-8351-7034"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Goren Gordon","raw_affiliation_strings":["School of Industrial and Intelligent Systems Engineering, Tel Aviv University, Tel Aviv, Israel"],"raw_orcid":"https://orcid.org/0000-0002-8351-7034","affiliations":[{"raw_affiliation_string":"School of Industrial and Intelligent Systems Engineering, Tel Aviv University, Tel Aviv, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051631819","display_name":"Bat\u2010El Pinchasik","orcid":"https://orcid.org/0000-0002-2004-0507"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Bat-El Pinchasik","raw_affiliation_strings":["School of Mechanical Engineering, Tel Aviv University, Tel Aviv, Israel"],"raw_orcid":"https://orcid.org/0000-0002-2004-0507","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tel Aviv University, Tel Aviv, Israel","institution_ids":["https://openalex.org/I16391192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16391192"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29579597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1698","last_page":"1705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.004399999976158142,"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/T10859","display_name":"Polymer Surface Interaction Studies","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/2508","display_name":"Surfaces, Coatings and Films"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7998999953269958},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7287999987602234},{"id":"https://openalex.org/keywords/adhesion","display_name":"Adhesion","score":0.6640999913215637},{"id":"https://openalex.org/keywords/adhesive","display_name":"Adhesive","score":0.616100013256073},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.578000009059906},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5242000222206116},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.385699987411499},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.37700000405311584}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7998999953269958},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7287999987602234},{"id":"https://openalex.org/C84416704","wikidata":"https://www.wikidata.org/wiki/Q188666","display_name":"Adhesion","level":2,"score":0.6640999913215637},{"id":"https://openalex.org/C68928338","wikidata":"https://www.wikidata.org/wiki/Q131790","display_name":"Adhesive","level":3,"score":0.616100013256073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.578000009059906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5652999877929688},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5242000222206116},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.385699987411499},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.37700000405311584},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.36660000681877136},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34119999408721924},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3393000066280365},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3181000053882599},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3061000108718872},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2906000018119812},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27790001034736633},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2750000059604645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27090001106262207},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26089999079704285},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.25920000672340393},{"id":"https://openalex.org/C2778517922","wikidata":"https://www.wikidata.org/wiki/Q7140482","display_name":"Particle (ecology)","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3643330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643330","pdf_url":null,"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1832146257","https://openalex.org/W1975504873","https://openalex.org/W1987689345","https://openalex.org/W2001070641","https://openalex.org/W2035673769","https://openalex.org/W2037321574","https://openalex.org/W2045196859","https://openalex.org/W2046883403","https://openalex.org/W2070524567","https://openalex.org/W2075691266","https://openalex.org/W2088950092","https://openalex.org/W2102005991","https://openalex.org/W2103701180","https://openalex.org/W2104748964","https://openalex.org/W2125095347","https://openalex.org/W2125204638","https://openalex.org/W2128610214","https://openalex.org/W2133507230","https://openalex.org/W2151435703","https://openalex.org/W2152338579","https://openalex.org/W2163974073","https://openalex.org/W2164558688","https://openalex.org/W2320449583","https://openalex.org/W2408118203","https://openalex.org/W2556257719","https://openalex.org/W2614511842","https://openalex.org/W2964990217","https://openalex.org/W2984942136","https://openalex.org/W3027926853","https://openalex.org/W3036662003","https://openalex.org/W3048356206","https://openalex.org/W3100348983","https://openalex.org/W3118249052","https://openalex.org/W3120475984","https://openalex.org/W3133925648","https://openalex.org/W3187694664","https://openalex.org/W3202780266","https://openalex.org/W3207879729","https://openalex.org/W4200165096","https://openalex.org/W4210941555","https://openalex.org/W4224253018","https://openalex.org/W4225479926","https://openalex.org/W4317373323","https://openalex.org/W4318302157","https://openalex.org/W4391032206","https://openalex.org/W4403335819","https://openalex.org/W4403659195"],"related_works":[],"abstract_inverted_index":{"Gecko-inspired":[0],"adhesives":[1,173,205],"have":[2],"attracted":[3],"considerable":[4],"attention":[5],"due":[6,27],"to":[7,16,28,30,100,131,155,181],"their":[8,20],"unique":[9],"combination":[10],"of":[11,71,165,203],"strong,":[12],"yet":[13],"reversible":[14],"adhesion":[15,51,69,120,136,149],"diverse":[17],"surfaces.":[18],"However,":[19],"integration":[21],"into":[22,75],"robotic":[23,39,76,95,207],"systems":[24],"remains":[25],"limited":[26],"sensitivity":[29],"contact":[31],"alignment,":[32],"typically":[33],"requiring":[34],"near-perpendicular":[35],"engagement.":[36],"Yet,":[37],"many":[38],"tasks":[40],"involve":[41],"varying":[42],"approach":[43],"and":[44,58,101,138,151,174,183,190,211],"detachment":[45,152],"angles,":[46],"highlighting":[47],"the":[48,68,118,163,168,175,179,201],"need":[49],"for":[50,112,206],"that":[52,134,143],"operates":[53],"reliably":[54],"across":[55],"different":[56],"orientations":[57],"loading":[59],"conditions.":[60],"This":[61],"study":[62,195],"addresses":[63],"two":[64],"key":[65],"questions:":[66],"Can":[67],"strength":[70,137,150],"gecko-inspired":[72,89,172,204],"adhesives,":[73],"integrated":[74,92],"systems,":[77],"be":[78],"optimized":[79],"using":[80],"trajectory":[81,144],"optimization?":[82],"And":[83],"is":[84],"this":[85,194],"optimization":[86,127,145],"surface-dependent?":[87],"A":[88],"adhesive":[90],"was":[91,129],"on":[93],"a":[94],"arm's":[96,109],"end-effector,":[97],"which":[98],"attached":[99],"detached":[102],"from":[103,185],"surfaces":[104,186],"along":[105,116],"various":[106,188],"trajectories.":[107],"The":[108],"energy":[110,176],"expenditure":[111],"each":[113],"attachment-detachment":[114],"cycle,":[115],"with":[117,157],"corresponding":[119],"strength,":[121],"were":[122],"measured.":[123],"Online":[124],"particle":[125],"swarm":[126],"algorithm":[128],"applied":[130],"identify":[132],"conditions":[133],"improve":[135],"facilitate":[139],"detachment.":[140],"Results":[141],"show":[142],"significantly":[146],"improves":[147],"both":[148,167],"efficiency":[153],"up":[154],"17-fold,":[156],"surface-specific":[158],"effectiveness.":[159],"These":[160],"findings":[161],"underscore":[162],"importance":[164],"considering":[166],"forces":[169],"generated":[170],"by":[171,178],"required":[177],"robot":[180],"attach":[182],"detach":[184],"at":[187],"angles":[189],"positions.":[191],"Using":[192],"optimization,":[193],"helps":[196],"overcome":[197],"current":[198],"limitations":[199],"in":[200],"use":[202],"applications,":[208],"including":[209],"grippers":[210],"climbers.":[212]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-12-11T00:00:00"}
