{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T14:51:19Z","timestamp":1778770279916,"version":"3.51.4"},"reference-count":38,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2021,5,25]],"date-time":"2021-05-25T00:00:00Z","timestamp":1621900800000},"content-version":"am","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2021,5,25]],"date-time":"2021-05-25T00:00:00Z","timestamp":1621900800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["N00014-18-1-2277"],"award-info":[{"award-number":["N00014-18-1-2277"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2021,7]]},"abstract":"<jats:sec><jats:label\/><jats:p>Controllable adhesion has the capability to enable mobile robots to move freely across vertical and inverted surfaces for applications such as inspection, exploration, and cleaning. Previous methods for generating controllable adhesion have relied on fluidic adhesion through suction forces, electromagnetic adhesion through magnetic or electrical interactions, or dry fibrillar structures. Herein, a new method for achieving controllable adhesion by vibrating a flexible plate near a surface, which generates a strong and controllable attraction force, is presented. This adhesion mechanism has the unique property of providing strong adhesion normal to a surface, but very low resistance to motion parallel to the surface, making it attractive for mobile robots. Adhesive capabilities of vibration\u2010based adhesion (VBA) to characterize adhesive force dependence on vibration frequency and surface size are studied. Spatial pressure measurements within the adhesive zone, in combination with visualization of surface vibration modes, demonstrate that adhesion is localized to the center of the disk and decreases radially. A mobile robot to highlight the capabilities and robustness of VBA for payload transport, climbing to inversion transitions, and adhesion control is developed. Overall, a novel physical mechanism for robot\u2010surface adhesion that is robust, controllable, and enables rapid low\u2010friction locomotion is presented herein.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100001","type":"journal-article","created":{"date-parts":[[2021,5,25]],"date-time":"2021-05-25T08:26:01Z","timestamp":1621931161000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Gas\u2010Lubricated Vibration\u2010Based Adhesion for Robotics"],"prefix":"10.1002","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0779-6916","authenticated-orcid":false,"given":"William P.","family":"Weston-Dawkes","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering University of California San Diego  La Jolla CA 92093 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5922-1105","authenticated-orcid":false,"given":"Iman","family":"Adibnazari","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering University of California San Diego  La Jolla CA 92093 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yi-Wen","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Electro-Mechanical Engineering National Sun Yat-sen University Gushan District  Kaohsiung City 804 Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Everman","sequence":"additional","affiliation":[{"name":"Bell-Everman Inc  Santa Barbara USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9391-2476","authenticated-orcid":false,"given":"Nick","family":"Gravish","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering University of California San Diego  La Jolla CA 92093 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7821-7777","authenticated-orcid":false,"given":"Michael T.","family":"Tolley","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering University of California San Diego  La Jolla CA 92093 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,5,25]]},"reference":[{"key":"e_1_2_9_2_1","first-page":"220","volume-title":"24th Mediterranean Conf. on Control and Automation, MED 2016","author":"Brusell A.","year":"2016"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.897277"},{"key":"e_1_2_9_4_1","doi-asserted-by":"crossref","unstructured":"T.Miyake H.Ishihara T.Tomino inIEEE Int. Conf. on Robotics and Biomimetics ROBIO 2008 IEEE Piscataway NJ2008 pp.1824\u20131829.","DOI":"10.1109\/ROBIO.2009.4913279"},{"key":"e_1_2_9_5_1","unstructured":"H.Yang R.Liu Q.Hong N. S. B.He inProc. of the IEEE Int. Conf. on Automation and Logistics ICAL 2008 IEEE Piscataway NJ2008 p.1160."},{"key":"e_1_2_9_6_1","doi-asserted-by":"crossref","unstructured":"L. P.Kalra J.Gu M.Meng inIEEE Int. Conf. on Robotics and Biomimetics ROBIO 2006 IEEE Piscataway NJ2006 pp.1523\u20131528.","DOI":"10.1109\/ROBIO.2006.340155"},{"key":"e_1_2_9_7_1","first-page":"1","volume":"32","author":"Shi K.","year":"2020","journal-title":"Phys. Fluids"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1088\/0960-1317\/14\/6\/R01"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.4813312"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau3038"},{"key":"e_1_2_9_11_1","unstructured":"Q.Wu V.Pradeep X.Liu in2018 IEEE Int. Conf. on Soft Robotics RoboSoft IEEE Piscataway NJ2018 pp.315\u2013320."},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaf1092"},{"key":"e_1_2_9_13_1","first-page":"22","volume":"111","author":"Guo J.","year":"2017","journal-title":"Appl. Phys. Lett."},{"key":"e_1_2_9_14_1","doi-asserted-by":"crossref","unstructured":"H.Prahlad R.Pelrine S.Stanford J.Marlow R.Kornbluh inProc. \u2013 IEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2008 pp.3028\u20133033.","DOI":"10.1109\/ROBOT.2008.4543670"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2017.0714"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.192252799"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.155.1.103"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201201023"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1039\/C8SM01996G"},{"key":"e_1_2_9_20_1","unstructured":"C.Menon M.Murphy M.Sitti inProc. \u2013 2004 IEEE Int. Conf. on Robotics and Biomimetics IEEE ROBIO 2004 IEEE Piscataway NJ2004 pp.431\u2013436."},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792688"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.4907255"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2014.0675"},{"key":"e_1_2_9_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2019.100485"},{"key":"e_1_2_9_25_1","first-page":"401","volume-title":"Unmanned Systems Technology VIII","author":"Saunders A.","year":"2006"},{"key":"e_1_2_9_26_1","unstructured":"S.Kim M.Spenko S.Trujillo B.Heyneman V.Mattoli M. R.Cutkosky inProc. \u2013 IEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2007 p.1268."},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910382862"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3030731"},{"key":"e_1_2_9_29_1","doi-asserted-by":"publisher","DOI":"10.1186\/s12983-018-0273-x"},{"key":"e_1_2_9_30_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2013.1089"},{"key":"e_1_2_9_31_1","doi-asserted-by":"crossref","unstructured":"S.Wang L.Li Y.Chen Y.Wang W.Sun J.Xiao D.Wainwright T.Wang R. J.Wood L.Wen inProc. \u2013 IEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2019 p.4653.","DOI":"10.1109\/ICRA.2019.8793703"},{"key":"e_1_2_9_32_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ab47d1"},{"key":"e_1_2_9_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/0095-8522(53)90014-2"},{"key":"e_1_2_9_34_1","doi-asserted-by":"publisher","DOI":"10.1016\/0043-1648(63)90279-5"},{"key":"e_1_2_9_35_1","first-page":"51","volume-title":"Theory of Plates and Shells, Engineering Mechanics Series","author":"Timoshenko S.","year":"1959"},{"key":"e_1_2_9_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2856366"},{"key":"e_1_2_9_37_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.271.5248.482"},{"key":"e_1_2_9_38_1","doi-asserted-by":"publisher","DOI":"10.1098\/rstl.1886.0005"},{"key":"e_1_2_9_39_1","doi-asserted-by":"publisher","DOI":"10.1088\/0959-5309\/50\/1\/307"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202100001","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202100001","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202100001","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202100001","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T14:48:17Z","timestamp":1759848497000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202100001"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,25]]},"references-count":38,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2021,7]]}},"alternative-id":["10.1002\/aisy.202100001"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202100001","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,25]]},"assertion":[{"value":"2021-01-05","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-05-25","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2100001"}}