{"id":"https://openalex.org/W2947983303","doi":"https://doi.org/10.1109/robosoft.2019.8722779","title":"A Passively Adaptive Microspine Grapple for Robust, Controllable Perching","display_name":"A Passively Adaptive Microspine Grapple for Robust, Controllable Perching","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2947983303","doi":"https://doi.org/10.1109/robosoft.2019.8722779","mag":"2947983303"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722779","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-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/A5015980743","display_name":"Hai-Nguyen Nguyen","orcid":"https://orcid.org/0000-0002-2850-1304"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Hai-Nguyen Nguyen","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London"],"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020679005","display_name":"Robert Siddall","orcid":"https://orcid.org/0000-0002-2151-2860"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Robert Siddall","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London"],"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040791217","display_name":"Brett Stephens","orcid":"https://orcid.org/0000-0003-0162-6956"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Brett Stephens","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London"],"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043978742","display_name":"Alberto Navarro-Rubio","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alberto Navarro-Rubio","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London"],"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033366097","display_name":"Mirko Kova\u010d","orcid":"https://orcid.org/0000-0002-9720-2463"},"institutions":[{"id":"https://openalex.org/I71824836","display_name":"Swiss Federal Laboratories for Materials Science and Technology","ror":"https://ror.org/02x681a42","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I71824836"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mirko Kovac","raw_affiliation_strings":["Materials and Technology Centre of Robotics, Swiss Federal Laboratory for Materials Science and Technology (Empa), Zurich"],"affiliations":[{"raw_affiliation_string":"Materials and Technology Centre of Robotics, Swiss Federal Laboratory for Materials Science and Technology (Empa), Zurich","institution_ids":["https://openalex.org/I71824836"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015980743"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":56.1402,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.99923364,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"80","last_page":"87"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11486","display_name":"Micro and Nano Robotics","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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/robot","display_name":"Robot","score":0.6736432313919067},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.6013368368148804},{"id":"https://openalex.org/keywords/winch","display_name":"Winch","score":0.5597937107086182},{"id":"https://openalex.org/keywords/tractive-force","display_name":"Tractive force","score":0.5314570665359497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5282753109931946},{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.49709394574165344},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4177149534225464},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3453081250190735},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3279673457145691},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31324702501296997},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.25761696696281433},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.150255024433136},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1428893804550171},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1389400064945221}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6736432313919067},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6013368368148804},{"id":"https://openalex.org/C116168119","wikidata":"https://www.wikidata.org/wiki/Q258534","display_name":"Winch","level":2,"score":0.5597937107086182},{"id":"https://openalex.org/C32520587","wikidata":"https://www.wikidata.org/wiki/Q2142522","display_name":"Tractive force","level":2,"score":0.5314570665359497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5282753109931946},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.49709394574165344},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4177149534225464},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3453081250190735},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3279673457145691},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31324702501296997},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.25761696696281433},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.150255024433136},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1428893804550171},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1389400064945221},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft.2019.8722779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722779","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:dora:empa_20773","is_oa":false,"landing_page_url":"https://www.dora.lib4ri.ch/empa/islandora/object/empa%3A20773","pdf_url":null,"source":{"id":"https://openalex.org/S4306401298","display_name":"DORA Empa (Swiss Federal Laboratories for Materials Science and Technology (Empa))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71824836","host_organization_name":"Swiss Federal Laboratories for Materials Science and Technology","host_organization_lineage":["https://openalex.org/I71824836"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/88068","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/88068","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3287989763","display_name":null,"funder_award_id":"EP/R009953/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8347234532","display_name":null,"funder_award_id":"EP/N018494/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1518672027","https://openalex.org/W1953078217","https://openalex.org/W1979471244","https://openalex.org/W1980376051","https://openalex.org/W1984611503","https://openalex.org/W2003328068","https://openalex.org/W2027817901","https://openalex.org/W2044894195","https://openalex.org/W2049751180","https://openalex.org/W2058592719","https://openalex.org/W2068014991","https://openalex.org/W2124064924","https://openalex.org/W2310186226","https://openalex.org/W2403225007","https://openalex.org/W2528654141","https://openalex.org/W2566730525","https://openalex.org/W2566925750","https://openalex.org/W2735140382","https://openalex.org/W2735501192","https://openalex.org/W2738646825","https://openalex.org/W2767994808","https://openalex.org/W2783345620","https://openalex.org/W2794210792","https://openalex.org/W2893667363","https://openalex.org/W2898206653","https://openalex.org/W3101526672","https://openalex.org/W6678567748"],"related_works":["https://openalex.org/W2775620166","https://openalex.org/W2393623725","https://openalex.org/W2750562350","https://openalex.org/W3109885014","https://openalex.org/W2419336762","https://openalex.org/W2070657376","https://openalex.org/W190296959","https://openalex.org/W2591856290","https://openalex.org/W2742616977","https://openalex.org/W2682956729"],"abstract_inverted_index":{"The":[0,18,141,165,215],"application":[1],"of":[2,15,69,90,122,136,173,188],"flying":[3],"systems":[4],"to":[5,20,22,28,63,66,87,105,119,128,133,155,176,181,194,204,221],"practical":[6],"tasks":[7],"is":[8,77,117,126,143,228],"consistently":[9],"limited":[10],"by":[11,79],"the":[12,41,88,120,123,152,159,162,170,174,186,192,205],"poor":[13],"endurance":[14],"hovering":[16],"robots.":[17],"ability":[19],"perch":[21],"fixed":[23],"surfaces":[24,70],"allows":[25,59,151,191],"a":[26,35,53,67,80,98,134,146,189],"robot":[27,193],"gather":[29],"data":[30],"and":[31,43,74,97,131,139,185],"inspect":[32],"structures":[33],"in":[34,109,198],"low":[36],"power":[37],"state,":[38],"while":[39],"retaining":[40],"access":[42],"manoeuvrability":[44],"that":[45],"flight":[46],"offers.":[47],"In":[48],"this":[49],"paper":[50],"we":[51],"present":[52],"passively":[54,85,129],"adaptive":[55,213],"perching":[56,92,211],"mechanism":[57],"which":[58,84,125,150],"an":[60],"aerial":[61],"vehicle":[62,160],"stably":[64,195],"attach":[65,132],"variety":[68,135],"including":[71],"tree":[72],"branches":[73],"pipelines.":[75],"This":[76,116,207],"enabled":[78],"compliant":[81],"grapple":[82,142],"module,":[83],"conforms":[86],"surface":[89],"convex":[91],"targets,":[93],"ensuring":[94],"reliable":[95],"traction":[96],"very":[99],"high":[100,225],"load":[101],"capacity":[102],"(tension":[103],"tested":[104],">":[106],"60":[107],"kg":[108],"some":[110],"instances)":[111],"whilst":[112],"still":[113],"releasing":[114],"effortlessly.":[115],"due":[118],"mechanics":[121],"grapple,":[124],"designed":[127],"tighten":[130],"branch":[137],"diameters":[138],"shapes.":[140],"paired":[144],"with":[145],"hybrid":[147,166],"force-motion":[148],"controller":[149],"cable":[153],"tension":[154],"be":[156,219],"regulated":[157],"as":[158],"achieves":[161],"desired":[163],"attitude.":[164],"control":[167],"approach":[168,208],"exploits":[169],"mechanical":[171],"compliance":[172],"system":[175],"ensure":[177],"reliable,":[178],"stable":[179],"attachment":[180],"irregular":[182],"natural":[183],"structures,":[184],"addition":[187],"winch":[190],"orient":[196],"itself":[197],"any":[199],"position":[200],"or":[201],"orientation":[202],"relative":[203],"branch.":[206],"demonstrates":[209],"tensile":[210],"using":[212],"anchors.":[214],"presented":[216],"subsystems":[217],"can":[218],"applied":[220],"other":[222],"robots":[223],"where":[224],"force":[226],"authority":[227],"required.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2019-06-07T00:00:00"}