{"id":"https://openalex.org/W3206111415","doi":"https://doi.org/10.1109/icra48506.2021.9561321","title":"A Soft-Rigid Air-Propelled Pipe-Climbing Robot","display_name":"A Soft-Rigid Air-Propelled Pipe-Climbing Robot","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206111415","doi":"https://doi.org/10.1109/icra48506.2021.9561321","mag":"3206111415"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561321","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":"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/A5029595418","display_name":"Qingxiang Zhao","orcid":"https://orcid.org/0000-0001-7524-5342"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qingxiang Zhao","raw_affiliation_strings":["Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong, China","Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060047525","display_name":"Zhiyi Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhiyi Jiang","raw_affiliation_strings":["Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong, China","Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058337483","display_name":"Henry K. Chu","orcid":"https://orcid.org/0000-0001-7225-6927"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Henry K. Chu","raw_affiliation_strings":["Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong, China","Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":0.1698,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.46117032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"11850","last_page":"11855"},"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":0.994700014591217,"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":0.9853000044822693,"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/robot","display_name":"Robot","score":0.7561610341072083},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.638177752494812},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.5141528248786926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5031184554100037},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.4933289587497711},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.48553797602653503},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.47483235597610474},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.42307180166244507},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3868267834186554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37580153346061707},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3572781980037689},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3327443599700928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12196272611618042},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11230158805847168}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7561610341072083},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.638177752494812},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.5141528248786926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5031184554100037},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.4933289587497711},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.48553797602653503},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.47483235597610474},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.42307180166244507},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3868267834186554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37580153346061707},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3572781980037689},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3327443599700928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12196272611618042},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11230158805847168},{"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:10.1109/icra48506.2021.9561321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561321","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1676421722","https://openalex.org/W2017312036","https://openalex.org/W2023820973","https://openalex.org/W2041258471","https://openalex.org/W2046137805","https://openalex.org/W2054686594","https://openalex.org/W2100511318","https://openalex.org/W2108844777","https://openalex.org/W2119874624","https://openalex.org/W2150617290","https://openalex.org/W2321128042","https://openalex.org/W2425829336","https://openalex.org/W2560099732","https://openalex.org/W2873850312","https://openalex.org/W2896729926","https://openalex.org/W2905335417","https://openalex.org/W2923036593","https://openalex.org/W2968992326","https://openalex.org/W2980227422","https://openalex.org/W3003845873","https://openalex.org/W6660856096"],"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":{"Complex":[0],"pipeline":[1],"network":[2],"should":[3],"be":[4],"inspected":[5],"regularly":[6],"for":[7],"safety.":[8],"In":[9,115,166],"general,":[10],"these":[11],"tasks":[12],"are":[13,26,40,48,73,170],"often":[14],"completed":[15],"by":[16,75,184],"large":[17],"pipe-climbing":[18,57],"robots":[19,47],"or":[20],"customized":[21],"equipment.":[22],"Most":[23],"of":[24,129,199,212,218],"them":[25],"not":[27,49],"effective,":[28],"and":[29,69,79,96,106,136,154,174,178,204],"cannot":[30],"work":[31],"on":[32,119],"pipes":[33,39,128],"with":[34,132,214],"uncertain":[35],"barriers.":[36,165],"Moreover,":[37],"some":[38],"mounted":[41],"in":[42,201],"constrained":[43],"scenarios,":[44,203],"so":[45],"bulky":[46],"applicable.":[50],"This":[51],"paper":[52],"presents":[53],"a":[54,76,80,107,197,209,219],"tethered":[55],"soft-rigid":[56],"robot":[58,104,125,156,191,224],"to":[59,101,126,172],"fill":[60],"the":[61,93,103,120,124,151,155,179,223],"gap.":[62],"Two":[63],"indispensable":[64],"actions,":[65],"i.e.":[66],"embracing":[67],"pipe":[68,221],"moving":[70],"along":[71],"it,":[72],"realized":[74],"soft":[77,121],"component":[78,122],"3D":[81],"printed":[82],"wheel":[83,152],"mechanism.":[84],"The":[85],"latter":[86],"includes":[87],"two":[88],"forces:":[89],"thrust":[90,176],"force":[91,98,138],"from":[92,99,143],"compressed":[94],"air":[95],"tractive":[97],"wheels,":[100],"drive":[102],"comprehensively,":[105],"lightweight":[108],"body":[109],"(only":[110],"160g)":[111],"benefits":[112],"agile":[113],"motion.":[114],"operation,":[116],"pressure":[117],"exerted":[118],"enables":[123],"embrace":[127],"different":[130],"diameters,":[131],"controllable":[133],"adhesion":[134],"force,":[135,177],"locomotion":[137,180],"is":[139,148,182,225],"also":[140,226],"regulated.":[141],"Inspired":[142],"vehicle,":[144],"an":[145],"elastic":[146],"damper":[147],"attached":[149],"between":[150],"structure":[153],"body,":[157],"which":[158],"can":[159,192,206],"effectively":[160],"alleviate":[161],"vibration":[162],"when":[163],"crossing":[164],"addition,":[167],"theoretical":[168],"models":[169],"constructed":[171],"analyse":[173],"control":[175],"performance":[181],"analysed":[183],"dynamics":[185],"model.":[186],"Experiments":[187],"demonstrate":[188],"that":[189],"this":[190],"perform":[193],"rapid":[194],"climbing":[195],"at":[196,208],"speed":[198,211],"1.09m/s":[200],"load-free":[202],"it":[205],"move":[207],"maximum":[210],"0.828m/s":[213],"500g":[215],"load.":[216],"Reconstruction":[217],"flexible":[220],"using":[222],"demonstrated.":[227]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}