{"id":"https://openalex.org/W2561418509","doi":"https://doi.org/10.1109/tro.2016.2623346","title":"A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces","display_name":"A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces","publication_year":2016,"publication_date":"2016-12-26","ids":{"openalex":"https://openalex.org/W2561418509","doi":"https://doi.org/10.1109/tro.2016.2623346","mag":"2561418509"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2623346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2623346","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/A5083272218","display_name":"Morgan T. Pope","orcid":"https://orcid.org/0000-0002-8393-7493"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Morgan T. Pope","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8393-7493","affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031102811","display_name":"Christopher W. Kimes","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher W. Kimes","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100712109","display_name":"Hao Jiang","orcid":"https://orcid.org/0000-0003-4477-529X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot W. Hawkes","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112854508","display_name":"Matt A. Estrada","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt A. Estrada","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010392280","display_name":"Capella F. Kerst","orcid":"https://orcid.org/0000-0002-8629-0146"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Capella F. Kerst","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080493428","display_name":"William R. T. Roderick","orcid":"https://orcid.org/0000-0002-6998-1009"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William R. T. Roderick","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044337518","display_name":"Amy Kyungwon Han","orcid":"https://orcid.org/0000-0001-9260-8619"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amy K. Han","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103338447","display_name":"David L. Christensen","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David L. Christensen","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark R. Cutkosky","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Laboratory, Center for Design Research, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":205.6758,"has_fulltext":false,"cited_by_count":158,"citation_normalized_percentile":{"value":0.99955539,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"33","issue":"1","first_page":"38","last_page":"48"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9988999962806702,"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":0.9988999962806702,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.9026884436607361},{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.8274634480476379},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.7805320024490356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7193630337715149},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48083266615867615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4798395335674286},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4708658754825592},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4357631802558899},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41448867321014404},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.397238552570343},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.29450714588165283}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.9026884436607361},{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.8274634480476379},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.7805320024490356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7193630337715149},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48083266615867615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4798395335674286},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4708658754825592},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4357631802558899},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41448867321014404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.397238552570343},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.29450714588165283},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2016.2623346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2623346","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G6677907269","display_name":null,"funder_award_id":"IIS-1161679","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W70213806","https://openalex.org/W1520211924","https://openalex.org/W1547873287","https://openalex.org/W1591981541","https://openalex.org/W1979471244","https://openalex.org/W1985053875","https://openalex.org/W1986605464","https://openalex.org/W2026417793","https://openalex.org/W2030204236","https://openalex.org/W2049751180","https://openalex.org/W2058592719","https://openalex.org/W2068014991","https://openalex.org/W2074934068","https://openalex.org/W2078436852","https://openalex.org/W2090308111","https://openalex.org/W2097356896","https://openalex.org/W2100346697","https://openalex.org/W2114924842","https://openalex.org/W2121185710","https://openalex.org/W2140202673","https://openalex.org/W2169995190","https://openalex.org/W2220079373","https://openalex.org/W2470487727","https://openalex.org/W2475734753","https://openalex.org/W6720468800"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2379975046","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695"],"abstract_inverted_index":{"Perching":[0],"can":[1],"extend":[2],"the":[3,32,44,64,68,90,113,122,130],"useful":[4],"mission":[5,156],"life":[6],"of":[7,48,92,132],"a":[8,93,109],"micro":[9],"air":[10],"vehicle.":[11],"Once":[12],"perched,":[13],"climbing":[14,119],"allows":[15],"it":[16],"to":[17,41,78,108,115,124],"reposition":[18],"precisely,":[19],"with":[20,51],"low":[21],"power":[22,139],"draw":[23],"and":[24,35,58,67,72,87,121,144,146],"without":[25,89],"regard":[26],"for":[27,141,154],"weather":[28],"conditions.":[29],"We":[30,62,100,135],"present":[31,63],"Stanford":[33],"Climbing":[34],"Aerial":[36],"Maneuvering":[37],"Platform,":[38],"which":[39],"is":[40],"our":[42],"knowledge":[43],"first":[45],"robot":[46],"capable":[47],"flying,":[49,143],"perching":[50],"passive":[52],"technology":[53],"on":[54,82],"outdoor":[55],"surfaces,":[56],"climbing,":[57,71,142],"taking":[59],"off":[60],"again.":[61],"mechanical":[65],"design":[66],"new":[69,104],"perching,":[70],"takeoff":[73],"strategies":[74],"that":[75],"allow":[76],"us":[77],"perform":[79],"these":[80],"tasks":[81],"surfaces":[83],"such":[84],"as":[85],"concrete":[86],"stucco,":[88],"aid":[91],"motion":[94],"capture":[95],"system":[96],"or":[97],"off-board":[98],"computation.":[99],"further":[101],"discuss":[102,147],"two":[103],"capabilities":[105],"uniquely":[106],"available":[107],"hybrid":[110],"aerial-scansorial":[111],"robot:":[112],"ability":[114,123],"recover":[116],"gracefully":[117],"from":[118],"failures":[120],"increase":[125],"usable":[126],"foothold":[127],"density":[128],"through":[129],"application":[131],"aerodynamic":[133],"forces.":[134],"also":[136],"measure":[137],"real":[138],"consumption":[140],"monitoring":[145],"how":[148],"future":[149],"platforms":[150],"could":[151],"be":[152],"improved":[153],"longer":[155],"life.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":20},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
