{"id":"https://openalex.org/W3139401515","doi":"https://doi.org/10.1109/access.2021.3068000","title":"Self-Compliant Track-Type Wall-Climbing Robot for Variable Curvature Facade","display_name":"Self-Compliant Track-Type Wall-Climbing Robot for Variable Curvature Facade","publication_year":2021,"publication_date":"2021-03-22","ids":{"openalex":"https://openalex.org/W3139401515","doi":"https://doi.org/10.1109/access.2021.3068000","mag":"3139401515"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3068000","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3068000","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09382987.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09382987.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101632528","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0001-5824-0494"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Wang","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100362780","display_name":"Xiaojun Zhang","orcid":"https://orcid.org/0000-0002-0304-0003"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojun Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076765834","display_name":"Minglu Zhang","orcid":"https://orcid.org/0000-0002-9090-7284"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minglu Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100933712","display_name":"Lingyu Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyu Sun","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037459302","display_name":"Manhong Li","orcid":"https://orcid.org/0000-0002-0433-4222"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Manhong Li","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101632528"],"corresponding_institution_ids":["https://openalex.org/I184843921"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6902,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.82557337,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"51951","last_page":"51963"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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":0.996999979019165,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9930999875068665,"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/traction","display_name":"Traction (geology)","score":0.6697739362716675},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6543440222740173},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6060205698013306},{"id":"https://openalex.org/keywords/tractive-force","display_name":"Tractive force","score":0.5778078436851501},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5669766664505005},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.5562084317207336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4713035821914673},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37199777364730835},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35971948504447937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35960638523101807},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.33154845237731934},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29630714654922485},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15600985288619995},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.1478751301765442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1464565396308899},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11794769763946533}],"concepts":[{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6697739362716675},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6543440222740173},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6060205698013306},{"id":"https://openalex.org/C32520587","wikidata":"https://www.wikidata.org/wiki/Q2142522","display_name":"Tractive force","level":2,"score":0.5778078436851501},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5669766664505005},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.5562084317207336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4713035821914673},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37199777364730835},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35971948504447937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35960638523101807},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.33154845237731934},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29630714654922485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15600985288619995},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.1478751301765442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1464565396308899},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11794769763946533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3068000","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3068000","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09382987.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:dec9fcf74e4b46db9371925febc07bc3","is_oa":true,"landing_page_url":"https://doaj.org/article/dec9fcf74e4b46db9371925febc07bc3","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 51951-51963 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3068000","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3068000","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09382987.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2775608643","display_name":null,"funder_award_id":"61803142","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4399532171","display_name":null,"funder_award_id":"201806","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5249334224","display_name":null,"funder_award_id":"61803","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6334596638","display_name":null,"funder_award_id":"E2018202338","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3139401515.pdf","grobid_xml":"https://content.openalex.org/works/W3139401515.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W867934529","https://openalex.org/W912022019","https://openalex.org/W1919221617","https://openalex.org/W1953078217","https://openalex.org/W1974667452","https://openalex.org/W1976907146","https://openalex.org/W1998227924","https://openalex.org/W2006856784","https://openalex.org/W2009338022","https://openalex.org/W2017312036","https://openalex.org/W2043375561","https://openalex.org/W2046137805","https://openalex.org/W2065177705","https://openalex.org/W2068843098","https://openalex.org/W2071894062","https://openalex.org/W2079923847","https://openalex.org/W2083483368","https://openalex.org/W2085546692","https://openalex.org/W2126978975","https://openalex.org/W2154770132","https://openalex.org/W2158334452","https://openalex.org/W2171123762","https://openalex.org/W2211222456","https://openalex.org/W2220222801","https://openalex.org/W2343762060","https://openalex.org/W2467297448","https://openalex.org/W2508113362","https://openalex.org/W2574078266","https://openalex.org/W2625678137","https://openalex.org/W2766344031","https://openalex.org/W2789547856","https://openalex.org/W2795678689","https://openalex.org/W2802271288","https://openalex.org/W3094119427","https://openalex.org/W3094707021","https://openalex.org/W3146221501","https://openalex.org/W4234356455"],"related_works":["https://openalex.org/W2775620166","https://openalex.org/W2393623725","https://openalex.org/W2750562350","https://openalex.org/W3109885014","https://openalex.org/W2591856290","https://openalex.org/W2419336762","https://openalex.org/W2570175137","https://openalex.org/W2070657376","https://openalex.org/W2742616977","https://openalex.org/W3143899820"],"abstract_inverted_index":{"The":[0,12,27,50,93,142],"paper":[1],"presents":[2],"a":[3,153],"wall-climbing":[4],"robot":[5,28,143],"featuring":[6],"self-compliance":[7,72],"for":[8],"variable":[9],"curvature":[10,70,109],"façades.":[11],"high":[13,127],"payload":[14,163],"and":[15,34,46,123,159],"maneuverability":[16,128],"make":[17],"it":[18],"highly":[19],"potential":[20],"in":[21,83,146],"heavy-duty":[22],"operation":[23],"of":[24,30,63,66,88,101,138,156],"industrial":[25],"applications.":[26],"consists":[29],"two":[31,51,90,139],"traction":[32,39,48,52,91,140],"modules":[33,53],"one":[35],"link":[36,58,79],"module.":[37],"Each":[38],"module":[40,59],"is":[41,73,129],"equipped":[42],"with":[43,60,107,152],"magnetic":[44,102],"adhesion":[45,103],"crawler":[47,122],"submodules.":[49],"are":[54,113],"connected":[55],"by":[56,75,115,131],"the":[57,76,84,89,99,108,116,121,124,132,136,150],"4":[61],"degrees":[62],"freedom":[64],"(DoF)":[65],"passive":[67,77],"compliance.":[68],"Variable":[69],"façade":[71],"achieved":[74,114],"compliant":[78],"module,":[80],"which":[81],"results":[82],"attitude":[85,94],"change":[86],"decoupling":[87],"modules.":[92,141],"can":[95,144],"be":[96],"adjusted":[97],"under":[98],"effect":[100],"force":[104],"to":[105],"comply":[106],"variations.":[110],"High":[111],"payloads":[112],"large":[117],"contact":[118],"area":[119],"between":[120,135],"surface.":[125],"Omni-directional":[126],"enabled":[130],"speed":[133],"difference":[134],"motors":[137],"maneuver":[145],"any":[147],"direction":[148],"on":[149,164],"surface":[151],"minimum":[154],"radius":[155],"1":[157],"m":[158],"carry":[160],"36":[161],"kg":[162],"vertical":[165],"surfaces.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}