{"id":"https://openalex.org/W2029744358","doi":"https://doi.org/10.1109/tro.2011.2171093","title":"A Positive Pressure Universal Gripper Based on the Jamming of Granular Material","display_name":"A Positive Pressure Universal Gripper Based on the Jamming of Granular Material","publication_year":2012,"publication_date":"2012-01-31","ids":{"openalex":"https://openalex.org/W2029744358","doi":"https://doi.org/10.1109/tro.2011.2171093","mag":"2029744358"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2171093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2171093","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","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/A5112077199","display_name":"John R. Amend","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John R. Amend","raw_affiliation_strings":["Sibley School of Mechanical and AeroSpace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and AeroSpace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083940015","display_name":"Eric Brown","orcid":"https://orcid.org/0000-0003-3405-6363"},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]},{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Brown","raw_affiliation_strings":["Department of Physics, University of Chicago, Chicago, IL, USA","School of Natural Sciences, University of California, Merced, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physics, University of Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I40347166"]},{"raw_affiliation_string":"School of Natural Sciences, University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060557887","display_name":"Nicholas Rodenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Rodenberg","raw_affiliation_strings":["James Franck Institute and the Department of Physics, University of Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"James Franck Institute and the Department of Physics, University of Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I40347166"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044135160","display_name":"Heinrich M. Jaeger","orcid":"https://orcid.org/0009-0001-0270-6870"},"institutions":[{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heinrich M. Jaeger","raw_affiliation_strings":["Department of Physics, University of Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physics, University of Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I40347166"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025894735","display_name":"Hod Lipson","orcid":"https://orcid.org/0000-0003-0769-4618"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hod Lipson","raw_affiliation_strings":["Sibley School of Mechanical and AeroSpace Engineer-ing and the Faculty of Computing and Information Science, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and AeroSpace Engineer-ing and the Faculty of Computing and Information Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":41.5457,"has_fulltext":false,"cited_by_count":702,"citation_normalized_percentile":{"value":0.99875115,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"28","issue":"2","first_page":"341","last_page":"350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"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/grippers","display_name":"Grippers","score":0.9140787124633789},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.7302026748657227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4813540577888489},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4551309645175934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4498533010482788},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44730162620544434},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39761653542518616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34945881366729736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2945929765701294},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20204883813858032},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14937207102775574},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08065459132194519}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9140787124633789},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.7302026748657227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4813540577888489},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4551309645175934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4498533010482788},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44730162620544434},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39761653542518616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34945881366729736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2945929765701294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20204883813858032},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14937207102775574},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08065459132194519},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2011.2171093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2171093","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.719.2983","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.719.2983","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eng.yale.edu/brown/ABRJL12.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W601713457","https://openalex.org/W1561912693","https://openalex.org/W1811460226","https://openalex.org/W1820657498","https://openalex.org/W1881109849","https://openalex.org/W1978580730","https://openalex.org/W1987638378","https://openalex.org/W1999375810","https://openalex.org/W2004967763","https://openalex.org/W2007924815","https://openalex.org/W2021852205","https://openalex.org/W2022024011","https://openalex.org/W2035178137","https://openalex.org/W2037508242","https://openalex.org/W2041376653","https://openalex.org/W2042326523","https://openalex.org/W2048553957","https://openalex.org/W2061306437","https://openalex.org/W2063443444","https://openalex.org/W2082197056","https://openalex.org/W2095433260","https://openalex.org/W2096514536","https://openalex.org/W2098335677","https://openalex.org/W2108345668","https://openalex.org/W2118262422","https://openalex.org/W2120353831","https://openalex.org/W2130850127","https://openalex.org/W2130854213","https://openalex.org/W2139990746","https://openalex.org/W2144113061","https://openalex.org/W2151554678","https://openalex.org/W2155113159","https://openalex.org/W2158145254","https://openalex.org/W2161481200","https://openalex.org/W2166585449","https://openalex.org/W2189322089","https://openalex.org/W2468050848","https://openalex.org/W4210660029","https://openalex.org/W4302401162","https://openalex.org/W6682873817","https://openalex.org/W6687260334"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W1501306699","https://openalex.org/W4376605790","https://openalex.org/W4298095203","https://openalex.org/W2750919931","https://openalex.org/W2157278770","https://openalex.org/W4312985516"],"abstract_inverted_index":{"We":[0,90,156],"describe":[1,91],"a":[2,9,20,34,65,87],"simple":[3],"passive":[4],"universal":[5,44],"gripper,":[6],"consisting":[7],"of":[8,11,22,37,64,97,119,162],"mass":[10],"granular":[12],"material":[13],"encased":[14],"in":[15,104,123,126,168],"an":[16],"elastic":[17],"membrane.":[18],"Using":[19],"combination":[21],"positive":[23,76,111],"and":[24,32,84,95,100,112,129,145,154],"negative":[25,113],"pressure,":[26,114],"the":[27,62,82,92,130,160,163,169],"gripper":[28,58,99,165],"can":[29],"rapidly":[30],"grip":[31,71],"release":[33],"wide":[35],"range":[36],"objects":[38,53,135,142],"that":[39],"are":[40,143],"typically":[41],"challenging":[42],"for":[43],"grippers,":[45],"such":[46],"as":[47],"flat":[48],"objects,":[49,51],"soft":[50],"or":[52],"with":[54,166],"complex":[55],"geometries.":[56],"The":[57],"passively":[59],"conforms":[60],"to":[61,70,78,86,121,133],"shape":[63],"target":[66],"object,":[67],"then":[68],"vacuum-hardens":[69],"it":[72],"rigidly,":[73],"later":[74],"utilizing":[75],"pressure":[77],"reverse":[79],"this":[80,98],"transition-releasing":[81],"object":[83],"returning":[85],"deformable":[88],"state.":[89],"mechanical":[93],"design":[94],"implementation":[96],"quantify":[101],"its":[102],"performance":[103,117,161],"real-world":[105],"testing":[106],"situations.":[107],"By":[108],"using":[109],"both":[110],"we":[115],"demonstrate":[116],"increases":[118],"up":[120],"85%":[122],"reliability,":[124],"25%":[125],"error":[127],"tolerance,":[128],"added":[131],"capability":[132],"shoot":[134],"by":[136,158],"fast":[137],"ejection.":[138],"In":[139],"addition,":[140],"multiple":[141],"gripped":[144],"placed":[146],"at":[147],"once":[148],"while":[149],"maintaining":[150],"their":[151],"relative":[152],"distance":[153],"orientation.":[155],"conclude":[157],"comparing":[159],"proposed":[164],"others":[167],"field.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":63},{"year":2023,"cited_by_count":78},{"year":2022,"cited_by_count":48},{"year":2021,"cited_by_count":81},{"year":2020,"cited_by_count":62},{"year":2019,"cited_by_count":75},{"year":2018,"cited_by_count":65},{"year":2017,"cited_by_count":63},{"year":2016,"cited_by_count":41},{"year":2015,"cited_by_count":26},{"year":2014,"cited_by_count":25},{"year":2013,"cited_by_count":19},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
