{"id":"https://openalex.org/W4376605775","doi":"https://doi.org/10.1109/robosoft55895.2023.10121982","title":"The Xeno-Tongue Gripper: Granular Jamming Suction Cup with Bellow-Driven Self-Morphing","display_name":"The Xeno-Tongue Gripper: Granular Jamming Suction Cup with Bellow-Driven Self-Morphing","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605775","doi":"https://doi.org/10.1109/robosoft55895.2023.10121982"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10121982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.repository.cam.ac.uk/bitstreams/3e04e98c-782a-44c6-a2cb-daa760bf079e/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072106823","display_name":"Kieran Gilday","orcid":"https://orcid.org/0000-0002-8264-1535"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]},{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"Kieran Gilday","raw_affiliation_strings":["University of Cambridge,Bio-Inspired Robotics Lab,UK","Bio-Inspired Robotics Lab, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Bio-Inspired Robotics Lab,UK","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Bio-Inspired Robotics Lab, University of Cambridge, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026716577","display_name":"Ryman Hashem","orcid":"https://orcid.org/0000-0003-0508-8745"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Ryman Hashem","raw_affiliation_strings":["University of Cambridge,Bio-Inspired Robotics Lab,UK","Bio-Inspired Robotics Lab, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Bio-Inspired Robotics Lab,UK","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Bio-Inspired Robotics Lab, University of Cambridge, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007732795","display_name":"Arsen Abdulali","orcid":"https://orcid.org/0000-0001-6874-7782"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]},{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Arsen Abdulali","raw_affiliation_strings":["University of Cambridge,Bio-Inspired Robotics Lab,UK","Bio-Inspired Robotics Lab, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Bio-Inspired Robotics Lab,UK","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Bio-Inspired Robotics Lab, University of Cambridge, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]},{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["University of Cambridge,Bio-Inspired Robotics Lab,UK","Bio-Inspired Robotics Lab, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Bio-Inspired Robotics Lab,UK","institution_ids":["https://openalex.org/I4210155100"]},{"raw_affiliation_string":"Bio-Inspired Robotics Lab, University of Cambridge, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072106823"],"corresponding_institution_ids":["https://openalex.org/I241749","https://openalex.org/I4210155100","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":0.6562,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.63914146,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.9093039035797119},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.8377759456634521},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.6146865487098694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5470115542411804},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1893509030342102},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1756555736064911},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1752724051475525},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10979846119880676}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.9093039035797119},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8377759456634521},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.6146865487098694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470115542411804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1893509030342102},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1756555736064911},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1752724051475525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10979846119880676},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10121982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/347210","is_oa":true,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/347210","pdf_url":"https://www.repository.cam.ac.uk/bitstreams/3e04e98c-782a-44c6-a2cb-daa760bf079e/download","source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Object"},{"id":"pmh:doi:10.17863/cam.94627","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Object"},{"id":"doi:10.17863/cam.94627","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.94627","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:www.repository.cam.ac.uk:1810/347210","is_oa":true,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/347210","pdf_url":"https://www.repository.cam.ac.uk/bitstreams/3e04e98c-782a-44c6-a2cb-daa760bf079e/download","source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Object"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","score":0.7900000214576721,"display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G1163077078","display_name":"RoboPatient - Robot assisted learning of constrained haptic information gain","funder_award_id":"EP/T00519X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6210605162","display_name":null,"funder_award_id":"EP/T00519X/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":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4376605775.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1888892744","https://openalex.org/W1976148143","https://openalex.org/W1986981734","https://openalex.org/W2007924815","https://openalex.org/W2047646215","https://openalex.org/W2067762713","https://openalex.org/W2069047850","https://openalex.org/W2151251278","https://openalex.org/W2529170537","https://openalex.org/W2556078315","https://openalex.org/W2740602557","https://openalex.org/W2751915788","https://openalex.org/W2784648116","https://openalex.org/W2912663298","https://openalex.org/W2917530233","https://openalex.org/W2944592567","https://openalex.org/W2998934366","https://openalex.org/W2999228329","https://openalex.org/W3048175285","https://openalex.org/W3048356206","https://openalex.org/W3104146270","https://openalex.org/W3181213630","https://openalex.org/W4210745457","https://openalex.org/W4313002001","https://openalex.org/W6741974391"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4385170164","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W1580681114","https://openalex.org/W51472912","https://openalex.org/W4362722828"],"abstract_inverted_index":{"Soft":[0],"grippers":[1],"have":[2],"demonstrated":[3],"significant":[4],"improvements":[5],"in":[6,8,31,38,121,140],"grasping":[7,12,109,118],"unstructured":[9],"environments":[10],"and":[11,35,40,62,106,123,135,142],"delicate":[13],"objects.":[14],"However,":[15],"there":[16],"are":[17],"limitations":[18],"preventing":[19],"more":[20],"widespread":[21],"real-world":[22,119],"use,":[23],"from":[24],"low":[25],"holding":[26],"force,":[27],"high":[28],"control":[29,131],"complexity":[30],"diverse":[32,64],"object":[33],"sets,":[34],"challenges":[36],"picking":[37],"clutter":[39,122],"more.":[41],"We":[42,104],"present":[43],"a":[44,50,57,67,112,124],"soft":[45,78],"adaptive":[46],"suction":[47,79,93],"cup":[48,54,94],"design-featuring":[49],"morphing":[51],"granular":[52],"jamming":[53],"augmented":[55],"by":[56],"suction-based":[58],"\u2018Xeno-Tongue\u2019-which":[59],"can":[60],"pick":[61],"handle":[63],"objects":[65,98],"under":[66],"variety":[68],"of":[69,100,114],"environmental":[70],"constraints,":[71],"or":[72],"lack":[73],"of.":[74],"The":[75],"gripper":[76],"combines":[77],"with":[80],"an":[81,129],"in-built":[82],"pulling":[83,90],"mechanism,":[84],"i.e.,":[85],"the":[86,101,108],"tongue":[87],"provides":[88],"active":[89],"for":[91,137],"automatic":[92],"shape":[95],"adaptation":[96],"to":[97],"independent":[99],"surrounding":[102],"environment.":[103],"characterise":[105],"predict":[107],"performance":[110],"on":[111],"series":[113],"benchmarking":[115],"surfaces.":[116],"Additionally,":[117],"objects,":[120],"simulated":[125],"harvesting":[126],"environment,":[127],"using":[128],"unmodified":[130],"strategy":[132],"demonstrates":[133],"adaptability":[134],"agility":[136],"rapid":[138],"application":[139],"agriculture":[141],"other":[143],"industries.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}