{"id":"https://openalex.org/W7130392975","doi":"https://doi.org/10.48550/arxiv.2602.15608","title":"Grip as Needed, Glide on Demand: Ultrasonic Lubrication for Robotic Locomotion","display_name":"Grip as Needed, Glide on Demand: Ultrasonic Lubrication for Robotic Locomotion","publication_year":2026,"publication_date":"2026-02-17","ids":{"openalex":"https://openalex.org/W7130392975","doi":"https://doi.org/10.48550/arxiv.2602.15608"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.15608","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15608","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"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":"https://doi.org/10.48550/arxiv.2602.15608","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065082062","display_name":"Mostafa A. Atalla","orcid":"https://orcid.org/0000-0002-0861-8142"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Atalla, Mostafa A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126335360","display_name":"Daan van Bemmel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"van Bemmel, Daan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126279172","display_name":"Jack Cummings","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cummings, Jack","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017683959","display_name":"Paul Breedveld","orcid":"https://orcid.org/0000-0002-7235-1657"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Breedveld, Paul","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030793012","display_name":"Micha\u00ebl Wiertlewski","orcid":"https://orcid.org/0000-0002-1298-2115"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wiertlewski, Micha\u00ebl","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5080646399","display_name":"Aim\u00e9e Sakes","orcid":"https://orcid.org/0000-0002-4323-884X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sakes, Aim\u00e9e","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5065082062"],"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":0.5315999984741211,"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":0.5315999984741211,"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":0.1932000070810318,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.10639999806880951,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lubrication","display_name":"Lubrication","score":0.8086000084877014},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.7379999756813049},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.47929999232292175},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.36079999804496765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34360000491142273},{"id":"https://openalex.org/keywords/fluid-bearing","display_name":"Fluid bearing","score":0.3353999853134155},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.3343000113964081}],"concepts":[{"id":"https://openalex.org/C184608416","wikidata":"https://www.wikidata.org/wiki/Q1455803","display_name":"Lubrication","level":2,"score":0.8086000084877014},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.7379999756813049},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5001000165939331},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.47929999232292175},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.41780000925064087},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3813000023365021},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36079999804496765},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3605000078678131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3596999943256378},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C132798551","wikidata":"https://www.wikidata.org/wiki/Q1192753","display_name":"Fluid bearing","level":3,"score":0.3353999853134155},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.3343000113964081},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3215000033378601},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29319998621940613},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27970001101493835},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.27889999747276306},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2653000056743622},{"id":"https://openalex.org/C167310744","wikidata":"https://www.wikidata.org/wiki/Q193870","display_name":"Tribology","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2551000118255615},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.2549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.15608","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15608","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.15608","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15608","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Friction":[0,106],"is":[1,13],"the":[2,139,164],"essential":[3],"mediator":[4],"of":[5,136,142,173],"terrestrial":[6],"locomotion,":[7,162],"yet":[8],"in":[9,39],"robotic":[10,40,161,174],"systems":[11,85,94],"it":[12],"almost":[14],"always":[15],"treated":[16],"as":[17,32,153],"a":[18,33,67,74,154],"passive":[19],"property":[20],"fixed":[21],"by":[22],"surface":[23],"materials":[24],"and":[25,56,73,80,89,121,127,130,170],"conditions.":[26],"Here,":[27],"we":[28],"introduce":[29],"ultrasonic":[30,47,143,151],"lubrication":[31,144,152],"method":[34],"to":[35,145,166],"actively":[36],"control":[37,65,158],"friction":[38,64,112,157],"locomotion.":[41,60,92],"By":[42],"exciting":[43],"resonant":[44],"structures":[45],"at":[46],"frequencies,":[48],"contact":[49],"interfaces":[50],"can":[51],"dynamically":[52],"switch":[53],"between":[54],"\"grip\"":[55],"\"slip\"":[57],"states,":[58],"enabling":[59],"We":[61],"developed":[62],"two":[63],"modules,":[66],"cylindrical":[68],"design":[69,76,168],"for":[70,77,160],"lumen-like":[71],"environments":[72],"flat-plate":[75],"external":[78],"surfaces,":[79,116],"integrated":[81],"them":[82],"into":[83],"bio-inspired":[84],"modeled":[86],"after":[87],"inchworm":[88],"wasp":[90],"ovipositor":[91],"Both":[93],"achieved":[95],"bidirectional":[96],"locomotion":[97,101,146,175],"with":[98,133,163],"nearly":[99],"perfect":[100],"efficiencies":[102],"that":[103],"exceeded":[104],"90%.":[105],"characterization":[107],"experiments":[108],"further":[109],"demonstrated":[110],"substantial":[111],"reduction":[113],"across":[114],"various":[115],"including":[117],"rigid,":[118],"soft,":[119],"granular,":[120],"biological":[122],"tissue":[123],"interfaces,":[124],"under":[125],"dry":[126],"wet":[128],"conditions,":[129],"on":[131],"surfaces":[132],"different":[134],"levels":[135],"roughness,":[137],"confirming":[138],"broad":[140],"applicability":[141],"tasks.":[147],"These":[148],"findings":[149],"establish":[150],"viable":[155],"active":[156],"mechanism":[159],"potential":[165],"reduce":[167],"complexity":[169],"improve":[171],"efficiency":[172],"systems.":[176]},"counts_by_year":[],"updated_date":"2026-05-04T08:30:34.212998","created_date":"2026-02-19T00:00:00"}
