  We demonstrate a method for efficient coupling of guided light from a single
mode optical fiber to nanophotonic devices. Our approach makes use of
single-sided conical tapered optical fibers that are evanescently coupled over
the last ~10 um to a nanophotonic waveguide. By means of adiabatic mode
transfer using a properly chosen taper, single-mode fiber-waveguide coupling
efficiencies as high as 97(1)% are achieved. Efficient coupling is obtained for
a wide range of device geometries which are either singly-clamped on a chip or
attached to the fiber, demonstrating a promising approach for integrated
nanophotonic circuits, quantum optical and nanoscale sensing applications.
