{"id":"https://openalex.org/W3206702781","doi":"https://doi.org/10.1109/icra48506.2021.9560729","title":"Design and Experiment of a Pneumatic Soft Climbing Robot","display_name":"Design and Experiment of a Pneumatic Soft Climbing Robot","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206702781","doi":"https://doi.org/10.1109/icra48506.2021.9560729","mag":"3206702781"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100746421","display_name":"Fengyu Xu","orcid":"https://orcid.org/0000-0002-1889-0318"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Xu","raw_affiliation_strings":["Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072722413","display_name":"Yuxuan Lu","orcid":"https://orcid.org/0000-0002-3276-8909"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Lu","raw_affiliation_strings":["Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China","Nanjing Nanyou Institute of Information Technovation, Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]},{"raw_affiliation_string":"Nanjing Nanyou Institute of Information Technovation, Co., Ltd","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038208582","display_name":"Zhenjiang Jiang","orcid":"https://orcid.org/0000-0001-5229-1098"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenjiang Jiang","raw_affiliation_strings":["Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101433591","display_name":"Guoping Jiang","orcid":"https://orcid.org/0000-0003-1133-2222"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoping Jiang","raw_affiliation_strings":["Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I41198531"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"107","issue":null,"first_page":"12061","last_page":"12067"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9945999979972839,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9857000112533569,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.8206173181533813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7249023914337158},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.648176908493042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.536689043045044},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.49496978521347046},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.41695961356163025},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40422239899635315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35080572962760925},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3374491333961487},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26987341046333313},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14533567428588867},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.058147579431533813}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8206173181533813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7249023914337158},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.648176908493042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.536689043045044},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.49496978521347046},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.41695961356163025},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40422239899635315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35080572962760925},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3374491333961487},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26987341046333313},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14533567428588867},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.058147579431533813},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1975028091","https://openalex.org/W2007924815","https://openalex.org/W2033096675","https://openalex.org/W2118177844","https://openalex.org/W2120556101","https://openalex.org/W2137560758","https://openalex.org/W2151632932","https://openalex.org/W2154963933","https://openalex.org/W2163566443","https://openalex.org/W2166585449","https://openalex.org/W2771720567","https://openalex.org/W2871580695","https://openalex.org/W2920292158","https://openalex.org/W2936068831","https://openalex.org/W2949174210","https://openalex.org/W2969509786","https://openalex.org/W2971278234","https://openalex.org/W3111399605","https://openalex.org/W6786780066"],"related_works":["https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2521924929","https://openalex.org/W2392978157","https://openalex.org/W2364780071","https://openalex.org/W3212815067","https://openalex.org/W4313245278","https://openalex.org/W2284468552","https://openalex.org/W655164699","https://openalex.org/W1598197230"],"abstract_inverted_index":{"This":[0],"paper":[1],"designed":[2],"a":[3,28,45,108,125],"pneumatic":[4,43],"soft":[5,14,48,110],"climbing":[6,18,49,95,111,117],"robot":[7,112],"by":[8,74,101],"utilizing":[9],"the":[10,39,61,69,76,83,94,98],"high":[11],"flexibility":[12],"of":[13,17,42,63,66,78,97],"materials.":[15],"Capabilities":[16],"and":[19,88,105],"creeping":[20],"through":[21],"small":[22],"spaces":[23],"would":[24],"rarely":[25],"possible":[26],"with":[27,51],"method":[29,77,127],"based":[30],"only":[31],"on":[32,82],"rigid":[33],"links.":[34],"At":[35],"first,":[36],"according":[37],"to":[38,92,115,123],"drive":[40],"mode":[41],"networks,":[44],"model":[46],"for":[47,128],"robots":[50,67],"different":[52],"section":[53],"having":[54],"their":[55],"independent":[56],"stiffness":[57],"was":[58,113],"designed;":[59],"afterwards,":[60],"analysis":[62,87],"visco-mechanical":[64],"properties":[65],"at":[68],"contact":[70],"surface":[71],"were":[72],"provided":[73],"using":[75],"minimum":[79],"potential":[80],"energy;":[81],"basis,":[84],"finite":[85],"element":[86],"experiment":[89],"are":[90],"given":[91],"analyze":[93],"behaviors":[96],"robot;":[99],"finally,":[100],"employing":[102],"3-d":[103],"printing":[104],"layer-by-layer":[106],"casting,":[107],"prototype":[109],"prepared":[114],"perform":[116],"experiments.":[118],"The":[119],"research":[120],"is":[121],"expected":[122],"provide":[124],"new":[126],"monitoring":[129],"complex":[130],"unstructured":[131],"environments.":[132]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}