{"id":"https://openalex.org/W2139392897","doi":"https://doi.org/10.1109/robot.2009.5152597","title":"Waalbot: Agile climbing with synthetic fibrillar dry adhesives","display_name":"Waalbot: Agile climbing with synthetic fibrillar dry adhesives","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2139392897","doi":"https://doi.org/10.1109/robot.2009.5152597","mag":"2139392897"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5015415874","display_name":"Michael Murphy","orcid":"https://orcid.org/0000-0002-8438-2653"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael P. Murphy","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University,#N#Pittsburgh, Pennsylvania, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University,#N#Pittsburgh, Pennsylvania, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079968392","display_name":"Metin Sitti","orcid":"https://orcid.org/0000-0001-8249-3854"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Metin Sitti","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University,#N#Pittsburgh, Pennsylvania, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University,#N#Pittsburgh, Pennsylvania, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015415874"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.6516,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89223993,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"6230","issue":null,"first_page":"1599","last_page":"1600"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9997000098228455,"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":0.9997000098228455,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9858999848365784,"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/climb","display_name":"Climb","score":0.8568661212921143},{"id":"https://openalex.org/keywords/adhesive","display_name":"Adhesive","score":0.7983681559562683},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.643817126750946},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6218582391738892},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.60152268409729},{"id":"https://openalex.org/keywords/surface-finish","display_name":"Surface finish","score":0.5258525013923645},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.46187591552734375},{"id":"https://openalex.org/keywords/surface-roughness","display_name":"Surface roughness","score":0.4122648537158966},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.3995032012462616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3785833716392517},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27635490894317627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27533844113349915},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19756749272346497},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16400623321533203}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8568661212921143},{"id":"https://openalex.org/C68928338","wikidata":"https://www.wikidata.org/wiki/Q131790","display_name":"Adhesive","level":3,"score":0.7983681559562683},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.643817126750946},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6218582391738892},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.60152268409729},{"id":"https://openalex.org/C71039073","wikidata":"https://www.wikidata.org/wiki/Q3439090","display_name":"Surface finish","level":2,"score":0.5258525013923645},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.46187591552734375},{"id":"https://openalex.org/C107365816","wikidata":"https://www.wikidata.org/wiki/Q114817","display_name":"Surface roughness","level":2,"score":0.4122648537158966},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.3995032012462616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3785833716392517},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27635490894317627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27533844113349915},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19756749272346497},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16400623321533203},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W102521428","https://openalex.org/W1568609372","https://openalex.org/W1991127731","https://openalex.org/W1993770485","https://openalex.org/W2012223795","https://openalex.org/W2020751555","https://openalex.org/W2062966171","https://openalex.org/W2080745455","https://openalex.org/W2083307197","https://openalex.org/W2111332095","https://openalex.org/W2111451187","https://openalex.org/W2121185710","https://openalex.org/W2123246991","https://openalex.org/W2124064924","https://openalex.org/W2125411414","https://openalex.org/W2126978975","https://openalex.org/W2127250147","https://openalex.org/W2130360049","https://openalex.org/W2130750661","https://openalex.org/W2139540571","https://openalex.org/W2156398583","https://openalex.org/W2157936767","https://openalex.org/W2164558688","https://openalex.org/W6604153273","https://openalex.org/W6655506837","https://openalex.org/W6678523930","https://openalex.org/W6678567748","https://openalex.org/W6682984116"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2614603712","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244"],"abstract_inverted_index":{"This":[0],"video":[1],"presents":[2],"a":[3],"palm-size":[4],"climbing":[5],"robot":[6,20,46],"which":[7],"uses":[8],"synthetic":[9],"fibrillar":[10,17],"dry":[11],"adhesives":[12],"inspired":[13],"by":[14,49],"geckos.":[15],"With":[16],"footpads,":[18],"the":[19,42,45],"is":[21,47],"shown":[22],"to":[23],"climb":[24],"smooth":[25],"surfaces":[26,33],"such":[27,37],"as":[28,38],"glass":[29],"and":[30,32,54],"acrylic,":[31],"with":[34],"micron-scale":[35],"roughness":[36],"wood.":[39],"In":[40],"particular,":[41],"agility":[43],"of":[44,51],"highlighted":[48],"demonstrations":[50],"climbing,":[52],"steering,":[53],"plane-to-plane":[55],"transitions.":[56]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}