{"id":"https://openalex.org/W7128532583","doi":"https://doi.org/10.48550/arxiv.2602.08285","title":"ReefFlex: A Generative Design Framework for Soft Robotic Grasping of Organic and Fragile objects","display_name":"ReefFlex: A Generative Design Framework for Soft Robotic Grasping of Organic and Fragile objects","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128532583","doi":"https://doi.org/10.48550/arxiv.2602.08285"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.08285","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125565644","display_name":"Josh Pinskier","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pinskier, Josh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125526367","display_name":"Sarah Baldwin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baldwin, Sarah","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125532182","display_name":"Stephen Rodan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rodan, Stephen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125578878","display_name":"David Howard","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Howard, David","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.5005999803543091,"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":0.5005999803543091,"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/T11486","display_name":"Micro and Nano Robotics","score":0.1039000004529953,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.0471000000834465,"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/grasp","display_name":"GRASP","score":0.5995000004768372},{"id":"https://openalex.org/keywords/coral-reef","display_name":"Coral reef","score":0.5565999746322632},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5454000234603882},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.39320001006126404},{"id":"https://openalex.org/keywords/coral","display_name":"Coral","score":0.3569999933242798},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3564000129699707},{"id":"https://openalex.org/keywords/reef","display_name":"Reef","score":0.35510000586509705}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5995000004768372},{"id":"https://openalex.org/C79367842","wikidata":"https://www.wikidata.org/wiki/Q11292","display_name":"Coral reef","level":2,"score":0.5565999746322632},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5454000234603882},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5389999747276306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40310001373291016},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.39320001006126404},{"id":"https://openalex.org/C143020374","wikidata":"https://www.wikidata.org/wiki/Q2411228","display_name":"Coral","level":2,"score":0.3569999933242798},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3564000129699707},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35569998621940613},{"id":"https://openalex.org/C77044568","wikidata":"https://www.wikidata.org/wiki/Q184358","display_name":"Reef","level":2,"score":0.35510000586509705},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3303000032901764},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.320499986410141},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3174000084400177},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.28780001401901245},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2583000063896179}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.08285","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.08285","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.08285","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.08285","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"score":0.5362851619720459,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Climate":[0],"change,":[1],"invasive":[2],"species":[3,40],"and":[4,21,23,41,56,92,135,153,160,185],"human":[5],"activities":[6],"are":[7,49],"currently":[8],"damaging":[9],"the":[10,43,52,61,123],"world's":[11],"coral":[12,33,95,137,167,196],"reefs":[13],"at":[14],"unprecedented":[15],"rates,":[16],"threatening":[17],"their":[18],"vast":[19,29],"biodiversity":[20],"fisheries,":[22],"reducing":[24],"coastal":[25],"protection.":[26],"Solving":[27],"this":[28],"challenge":[30],"requires":[31],"scalable":[32],"regeneration":[34],"technologies":[35],"that":[36,48,73],"can":[37],"breed":[38],"climate-resilient":[39],"accelerate":[42],"natural":[44],"regrowth":[45],"processes;":[46],"actions":[47],"impeded":[50],"by":[51],"absence":[53],"of":[54,78,85,88,111],"safe":[55],"robust":[57],"tools":[58],"to":[59,81,170,178],"handle":[60],"fragile":[62,91],"coral.":[63],"We":[64,146],"investigate":[65],"ReefFlex,":[66,173],"a":[67,75,83,97,108,115,127,175,187],"generative":[68],"soft":[69,79,128,180],"finger":[70],"design":[71,126,179],"methodology":[72],"explores":[74],"diverse":[76],"space":[77],"fingers":[80],"produce":[82],"set":[84,110],"candidates":[86],"capable":[87],"safely":[89],"grasping":[90,106],"geometrically":[93],"heterogeneous":[94,105],"in":[96,138,162,191],"cluttered":[98],"environment.":[99],"Our":[100],"key":[101],"insight":[102],"is":[103],"encoding":[104],"into":[107],"reduced":[109],"motion":[112],"primitives,":[113],"creating":[114],"simplified,":[116],"tractable":[117],"multi-objective":[118],"optimisation":[119],"problem.":[120],"To":[121],"evaluate":[122],"method,":[124],"we":[125],"robot":[129],"for":[130,142,182,198],"reef":[131,144],"rehabilitation,":[132],"which":[133],"grows":[134],"manipulates":[136],"onshore":[139],"aquaculture":[140],"facilities":[141],"future":[143],"out-planting.":[145],"demonstrate":[147],"ReefFlex":[148],"increases":[149],"both":[150],"grasp":[151,154],"success":[152],"quality":[155],"(disturbance":[156],"resistance,":[157],"positioning":[158],"accuracy)":[159],"reduces":[161],"adverse":[163],"events":[164],"encountered":[165],"during":[166],"manipulation":[168],"compared":[169],"reference":[171],"designs.":[172],"offers":[174],"generalisable":[176],"method":[177],"end-effectors":[181],"complex":[183],"handling":[184,197],"paves":[186],"pathway":[188],"towards":[189],"automation":[190],"previously":[192],"unachievable":[193],"domains":[194],"like":[195],"restoration.":[199]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-11T00:00:00"}