{"id":"https://openalex.org/W1995656945","doi":"https://doi.org/10.1108/01439910910994623","title":"A miniature wall climbing robot with biomechanical suction cups","display_name":"A miniature wall climbing robot with biomechanical suction cups","publication_year":2009,"publication_date":"2009-10-16","ids":{"openalex":"https://openalex.org/W1995656945","doi":"https://doi.org/10.1108/01439910910994623","mag":"1995656945"},"language":"en","primary_location":{"id":"doi:10.1108/01439910910994623","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910994623","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5006869576","display_name":"Bingshan Hu","orcid":"https://orcid.org/0000-0001-6760-9417"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingshan Hu","raw_affiliation_strings":["Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","[Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China]"],"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"[Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China]","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100374030","display_name":"Liwen Wang","orcid":"https://orcid.org/0000-0001-8396-0645"},"institutions":[{"id":"https://openalex.org/I28813325","display_name":"Civil Aviation University of China","ror":"https://ror.org/03je71k37","country_code":"CN","type":"education","lineage":["https://openalex.org/I28813325"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liwen Wang","raw_affiliation_strings":["Civil Aviation University of China, Tianjin, China","Civil Aviation, Univ. of China, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Civil Aviation University of China, Tianjin, China","institution_ids":["https://openalex.org/I28813325"]},{"raw_affiliation_string":"Civil Aviation, Univ. of China, Tianjin, China","institution_ids":["https://openalex.org/I28813325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114113969","display_name":"Yanzheng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzheng Zhao","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai , China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai , China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058388737","display_name":"Zhuang Fu","orcid":"https://orcid.org/0000-0001-8825-4029"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z. Fu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai , China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai , China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006869576"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.8894,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.74487364,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"36","issue":"6","first_page":"551","last_page":"561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9832000136375427,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9768999814987183,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.8107718229293823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7027097940444946},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5512040853500366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.548352062702179},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5388827323913574},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5217120051383972},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.4917011857032776},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4825548529624939},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45358020067214966},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4348929524421692},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3246380090713501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.27492383122444153},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13617411255836487},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09471496939659119}],"concepts":[{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.8107718229293823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7027097940444946},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5512040853500366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.548352062702179},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5388827323913574},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5217120051383972},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.4917011857032776},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4825548529624939},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45358020067214966},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4348929524421692},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3246380090713501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.27492383122444153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13617411255836487},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09471496939659119},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"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:10.1108/01439910910994623","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910994623","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W100534934","https://openalex.org/W269961771","https://openalex.org/W1494285813","https://openalex.org/W1499936603","https://openalex.org/W1545688563","https://openalex.org/W1568609372","https://openalex.org/W1594292718","https://openalex.org/W1710597819","https://openalex.org/W1930821101","https://openalex.org/W1956438442","https://openalex.org/W1969570716","https://openalex.org/W1972566390","https://openalex.org/W1978363395","https://openalex.org/W1979193449","https://openalex.org/W1985752634","https://openalex.org/W1992192651","https://openalex.org/W2001070641","https://openalex.org/W2012752411","https://openalex.org/W2033404477","https://openalex.org/W2077479840","https://openalex.org/W2078410230","https://openalex.org/W2083307197","https://openalex.org/W2091307417","https://openalex.org/W2094770975","https://openalex.org/W2096907041","https://openalex.org/W2111279083","https://openalex.org/W2114509435","https://openalex.org/W2114924842","https://openalex.org/W2117060668","https://openalex.org/W2117139180","https://openalex.org/W2121185710","https://openalex.org/W2127250147","https://openalex.org/W2128270866","https://openalex.org/W2138930414","https://openalex.org/W2149329003","https://openalex.org/W2159818687","https://openalex.org/W2162180955","https://openalex.org/W2241606133","https://openalex.org/W2540590476","https://openalex.org/W4235469158","https://openalex.org/W6637286091"],"related_works":["https://openalex.org/W3015892747","https://openalex.org/W2563631870","https://openalex.org/W2184561751","https://openalex.org/W100534934","https://openalex.org/W2769711967","https://openalex.org/W2096780166","https://openalex.org/W2743026106","https://openalex.org/W2626326600","https://openalex.org/W2686097893","https://openalex.org/W2591044448"],"abstract_inverted_index":{"Purpose":[0],"Wall":[1],"climbing":[2,39,132,167],"robots'":[3],"volume":[4],"is":[5,15,33,64,73,89,180],"needed":[6],"to":[7,34],"be":[8,123],"very":[9],"small":[10],"in":[11,112,145],"fields":[12],"that":[13,118],"workspace":[14],"limited,":[16],"such":[17],"as":[18,125],"anti\u2010terror":[19],"scouting,":[20],"industry":[21],"pipe":[22],"network":[23],"inspecting":[24],"and":[25,79,100,106,134,148],"so":[26],"on.":[27],"The":[28,102],"purpose":[29],"of":[30,56,69,96],"this":[31,113],"paper":[32,161],"design":[35],"a":[36,151,164],"miniature":[37,93,130,136,165],"wall":[38,131,166],"robot":[40,94,137,168],"with":[41,139,150,169],"biomechanical":[42,61,140,170],"suction":[43,58,62,71,120,141,171],"cups":[44,142,172],"actuated":[45,173],"by":[46,174],"shape":[47],"memory":[48],"alloy":[49],"(SMA)":[50],"actuators.":[51],"Design/methodology/approach":[52],"Based":[53],"on":[54,154],"characteristics":[55],"biologic":[57],"apparatuses,":[59],"the":[60,70,92,119,135],"cup":[63,72,121],"designed":[65],"first.":[66],"Theory":[67],"analysis":[68],"made":[74],"considering":[75],"elastic":[76],"plate's":[77],"deflection":[78],"SMAs":[80],"constitutive":[81],"model.":[82],"A":[83],"triangular":[84],"close":[85],"linkage":[86],"locomotion":[87],"mechanism":[88,128],"chosen":[90],"for":[91,129],"because":[95],"its":[97],"simple":[98],"structure":[99],"control.":[101],"robot's":[103],"gait,":[104],"kinematics,":[105],"control":[107],"system":[108],"are":[109],"all":[110],"illustrated":[111],"paper.":[114],"Findings":[115],"Experiments":[116],"indicate":[117],"can":[122,143],"used":[124],"an":[126,155],"adhesion":[127],"robots,":[133],"prototype":[138],"move":[144],"straight":[146],"line":[147],"turn":[149],"fixed":[152],"angle":[153],"inclined":[156],"glass":[157],"wall.":[158],"Originality/value":[159],"This":[160],"describes":[162],"how":[163],"SMA":[175],"without":[176],"any":[177],"air":[178],"pump":[179],"designed.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
