{"id":"https://openalex.org/W2808377102","doi":"https://doi.org/10.1177/0278364918778350","title":"Stochastic models of compliant spine arrays for rough surface grasping","display_name":"Stochastic models of compliant spine arrays for rough surface grasping","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2808377102","doi":"https://doi.org/10.1177/0278364918778350","mag":"2808377102"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918778350","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918778350","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/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":true,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4477-529X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398998","display_name":"Shiquan Wang","orcid":"https://orcid.org/0000-0003-3245-4579"},"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":"Shiquan Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3245-4579","affiliations":[{"raw_affiliation_string":"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":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"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":["https://openalex.org/A5100712109"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.1913,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.88157061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"37","issue":"7","first_page":"669","last_page":"687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"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":0.9968000054359436,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9854000210762024,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/spine","display_name":"SPINE (molecular biology)","score":0.5950286388397217},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.547894299030304},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.502230167388916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4817762076854706},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.44516512751579285},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.43743857741355896},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.33472663164138794},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3309639096260071},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30523139238357544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29795408248901367},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2121465802192688},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19294118881225586},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1275615096092224}],"concepts":[{"id":"https://openalex.org/C205383261","wikidata":"https://www.wikidata.org/wiki/Q7392570","display_name":"SPINE (molecular biology)","level":2,"score":0.5950286388397217},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.547894299030304},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.502230167388916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4817762076854706},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.44516512751579285},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.43743857741355896},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.33472663164138794},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3309639096260071},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30523139238357544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29795408248901367},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2121465802192688},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19294118881225586},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1275615096092224},{"id":"https://openalex.org/C153911025","wikidata":"https://www.wikidata.org/wiki/Q7202","display_name":"Molecular biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364918778350","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918778350","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"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":22,"referenced_works":["https://openalex.org/W1572242294","https://openalex.org/W1953078217","https://openalex.org/W1970427609","https://openalex.org/W1985283556","https://openalex.org/W2003113658","https://openalex.org/W2023820973","https://openalex.org/W2042382751","https://openalex.org/W2049751180","https://openalex.org/W2058592719","https://openalex.org/W2068014991","https://openalex.org/W2114924842","https://openalex.org/W2131945542","https://openalex.org/W2132420930","https://openalex.org/W2133200446","https://openalex.org/W2146772007","https://openalex.org/W2336411633","https://openalex.org/W2497194610","https://openalex.org/W2561418509","https://openalex.org/W2564265104","https://openalex.org/W2566925750","https://openalex.org/W2606283222","https://openalex.org/W4235469158"],"related_works":["https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2521924929","https://openalex.org/W2392978157","https://openalex.org/W2364780071","https://openalex.org/W4313245278","https://openalex.org/W3212815067","https://openalex.org/W2284468552","https://openalex.org/W655164699","https://openalex.org/W1598197230"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"models":[3,34],"of":[4,6,27,35,42,52,68,99],"arrays":[5,49,54],"compliantly":[7],"supported":[8],"spines":[9],"that":[10,55],"attach":[11,112],"to":[12,32,103,111,113],"rough":[13],"surfaces.":[14],"The":[15],"applications":[16],"include":[17],"climbing":[18],"and":[19,50,115],"perching":[20],"robots.":[21],"Surfaces":[22],"are":[23],"characterized":[24],"in":[25],"terms":[26],"asperity":[28],"distributions,":[29],"which":[30],"lead":[31],"stochastic":[33],"spine":[36,48,76,100],"force":[37],"capabilities":[38],"over":[39],"a":[40,62,66,107],"range":[41],"loading":[43],"directions.":[44],"Models":[45],"cover":[46],"unidirectional":[47],"pairs":[51],"opposed":[53,75],"withstand":[56],"normal":[57],"forces":[58],"pulling":[59],"away":[60],"from":[61,93],"surface.":[63],"Experiments":[64],"on":[65,84],"variety":[67],"surfaces":[69],"confirm":[70],"the":[71,78,85,94,97],"predicted":[72],"behavior.":[73],"For":[74],"arrays,":[77],"overall":[79],"load":[80],"capability":[81],"also":[82],"depends":[83],"preloading":[86],"strategy":[87],"for":[88,105],"applying":[89],"internal":[90],"forces.":[91],"Insights":[92],"analysis":[95],"guide":[96],"design":[98],"array":[101],"mechanisms":[102],"allow,":[104],"example,":[106],"small":[108],"aerial":[109],"platform":[110],"walls":[114],"ceilings.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}