{"id":"https://openalex.org/W2104081352","doi":"https://doi.org/10.1017/s0263574714001003","title":"Screw theory based motion analysis for an inchworm-like climbing robot","display_name":"Screw theory based motion analysis for an inchworm-like climbing robot","publication_year":2014,"publication_date":"2014-04-29","ids":{"openalex":"https://openalex.org/W2104081352","doi":"https://doi.org/10.1017/s0263574714001003","mag":"2104081352"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001003","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001003","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5048924584","display_name":"Jianjun Yao","orcid":"https://orcid.org/0000-0003-1640-3923"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianjun Yao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101934377","display_name":"Shuang Gao","orcid":"https://orcid.org/0000-0003-1489-495X"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Gao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065424260","display_name":"Guilin Jiang","orcid":"https://orcid.org/0000-0001-6231-453X"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guilin Jiang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084669711","display_name":"Thomas Hill","orcid":"https://orcid.org/0000-0002-4125-7895"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thomas L. Hill","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR, UK","Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR, UK","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol BS8 1TR UK","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100691310","display_name":"Han Yu","orcid":"https://orcid.org/0000-0003-3741-7072"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Yu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038958512","display_name":"Dong Shao","orcid":"https://orcid.org/0000-0001-9256-9461"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Shao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"\u2020College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5048924584"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":1.1691,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.81906247,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"33","issue":"8","first_page":"1704","last_page":"1717"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9926999807357788,"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/mechanism","display_name":"Mechanism (biology)","score":0.7472634315490723},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7008546590805054},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6747195720672607},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6442159414291382},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4613367021083832},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.45710429549217224},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4420744776725769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43120360374450684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42538073658943176},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4138636887073517},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3788766860961914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2577195167541504},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18784555792808533},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12489569187164307},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11805066466331482},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10187020897865295}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7472634315490723},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7008546590805054},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6747195720672607},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6442159414291382},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4613367021083832},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.45710429549217224},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4420744776725769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43120360374450684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42538073658943176},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4138636887073517},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3788766860961914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2577195167541504},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18784555792808533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12489569187164307},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11805066466331482},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10187020897865295},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714001003","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001003","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","score":0.7200000286102295,"display_name":"Zero hunger"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W132542016","https://openalex.org/W404869172","https://openalex.org/W618254468","https://openalex.org/W639693478","https://openalex.org/W642954692","https://openalex.org/W774034202","https://openalex.org/W1967254051","https://openalex.org/W1967421438","https://openalex.org/W1977998877","https://openalex.org/W1988263924","https://openalex.org/W2015710937","https://openalex.org/W2018725389","https://openalex.org/W2019608215","https://openalex.org/W2025822583","https://openalex.org/W2025939589","https://openalex.org/W2046802531","https://openalex.org/W2050536714","https://openalex.org/W2055888283","https://openalex.org/W2062691475","https://openalex.org/W2070300491","https://openalex.org/W2102005991","https://openalex.org/W2117308865","https://openalex.org/W2130750661","https://openalex.org/W2131533861","https://openalex.org/W2133423356","https://openalex.org/W2140396137","https://openalex.org/W2145570017","https://openalex.org/W2149347885","https://openalex.org/W2150159993","https://openalex.org/W2155497993","https://openalex.org/W2564446177","https://openalex.org/W3142707146","https://openalex.org/W3151324413","https://openalex.org/W4251229830"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2063353256","https://openalex.org/W2114803124","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W132946187","https://openalex.org/W2470916384","https://openalex.org/W1640559846"],"abstract_inverted_index":{"SUMMARY":[0],"To":[1],"obtain":[2],"better":[3],"performance":[4],"on":[5,64,133],"unstructured":[6],"environments,":[7],"such":[8],"as":[9],"in":[10,37,77],"agriculture,":[11],"forestry,":[12],"and":[13,17,20,92,99,109,124],"high-altitude":[14],"operations,":[15],"more":[16,18],"researchers":[19],"engineers":[21],"incline":[22],"to":[23],"study":[24],"classes":[25],"of":[26,40,72,138,150,157],"biologically":[27],"inspired":[28],"robots.":[29],"Since":[30],"the":[31,60,78,97,139,151,155],"natural":[32],"inchworm":[33,159],"can":[34,44],"move":[35],"well":[36],"various":[38],"types":[39],"terrain,":[41],"inchworm-like":[42],"robots":[43],"exhibit":[45],"excellent":[46],"mobility.":[47],"This":[48],"paper":[49],"describes":[50],"a":[51,69,84,115],"novel":[52],"inchworm-type":[53],"robot":[54,79,82,140,152],"with":[55,68],"simple":[56],"structure":[57],"developed":[58],"for":[59,62,128],"application":[61],"climbing":[63],"trees":[65],"or":[66],"poles":[67],"certain":[70],"range":[71],"diameters.":[73],"Modularization":[74],"is":[75,83,105,112,122,126,160],"adopted":[76],"configuration.":[80],"The":[81,118,136,148],"serial":[85],"mechanism":[86,120],"connected":[87],"by":[88,107,114,144],"four":[89],"joint":[90,104],"modules":[91],"two":[93],"grippers":[94],"located":[95],"at":[96],"front":[98],"rear":[100],"end,":[101],"respectively.":[102],"Each":[103],"driven":[106],"servos,":[108],"each":[110],"gripper":[111],"controlled":[113],"linear":[116],"motor.":[117],"simplified":[119],"model":[121],"established,":[123],"then":[125],"used":[127],"its":[129],"kinematic":[130],"analysis":[131],"based":[132],"screw":[134],"theory.":[135],"dynamics":[137],"are":[141],"also":[142],"analyzed":[143],"using":[145],"Lagrange":[146],"equations.":[147],"simulation":[149],"gait":[153],"imitating":[154],"locomotion":[156],"real":[158],"finally":[161],"presented.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
