{"id":"https://openalex.org/W3165428772","doi":"https://doi.org/10.1109/lra.2021.3076969","title":"Designing a Soft Flat Crawling Robot With High Load Capacity","display_name":"Designing a Soft Flat Crawling Robot With High Load Capacity","publication_year":2021,"publication_date":"2021-07-01","ids":{"openalex":"https://openalex.org/W3165428772","doi":"https://doi.org/10.1109/lra.2021.3076969","mag":"3165428772"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3076969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3076969","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5073097107","display_name":"Donghua Shen","orcid":"https://orcid.org/0000-0003-2089-3355"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Donghua Shen","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China","[School of Mechanical Engineering, Southeast University, Nanjing, China.]"],"raw_orcid":"https://orcid.org/0000-0003-2089-3355","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"[School of Mechanical Engineering, Southeast University, Nanjing, China.]","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072605927","display_name":"Jiyuan Wu","orcid":"https://orcid.org/0000-0002-3129-502X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyuan Wu","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-3129-502X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059734973","display_name":"Cunjin Wang","orcid":"https://orcid.org/0000-0001-6402-6363"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cunjin Wang","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6402-6363","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027392343","display_name":"Xingsong Wang","orcid":"https://orcid.org/0000-0002-6649-1485"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingsong Wang","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-6649-1485","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112494532","display_name":"Mengqian Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengqian Tian","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3848-2220","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019424135","display_name":"Orelaja Oluseyi Adewale","orcid":"https://orcid.org/0000-0003-2445-1482"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Orelaja Oluseyi Adewale","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-2445-1482","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5073097107"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.8063,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70889196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"6","issue":"3","first_page":"5618","last_page":"5625"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987000226974487,"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/crawling","display_name":"Crawling","score":0.9674035310745239},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8476669192314148},{"id":"https://openalex.org/keywords/waveform","display_name":"Waveform","score":0.6113382577896118},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4955359697341919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47129595279693604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4162202477455139},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.349422812461853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2442934811115265},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17009294033050537}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9674035310745239},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8476669192314148},{"id":"https://openalex.org/C197424946","wikidata":"https://www.wikidata.org/wiki/Q1165717","display_name":"Waveform","level":3,"score":0.6113382577896118},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4955359697341919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47129595279693604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4162202477455139},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.349422812461853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2442934811115265},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17009294033050537},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3076969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3076969","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8870160128","display_name":null,"funder_award_id":"YBPY1850","funder_id":"https://openalex.org/F4320335928","funder_display_name":"Scientific Research Foundation of the Graduate School of Southeast University"}],"funders":[{"id":"https://openalex.org/F4320335928","display_name":"Scientific Research Foundation of the Graduate School of Southeast University","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1541112841","https://openalex.org/W1659783416","https://openalex.org/W1986345233","https://openalex.org/W2042356665","https://openalex.org/W2122090762","https://openalex.org/W2175649927","https://openalex.org/W2618150712","https://openalex.org/W2767705041","https://openalex.org/W2770535816","https://openalex.org/W2788127870","https://openalex.org/W2791239448","https://openalex.org/W2800009422","https://openalex.org/W2808757576","https://openalex.org/W2891773274","https://openalex.org/W2891907949","https://openalex.org/W2898938415","https://openalex.org/W2905335417","https://openalex.org/W2911457647","https://openalex.org/W2928317008","https://openalex.org/W2951184982","https://openalex.org/W2969288996","https://openalex.org/W2989235033","https://openalex.org/W3003991995","https://openalex.org/W3004948752","https://openalex.org/W3007164162","https://openalex.org/W3009661612","https://openalex.org/W3080291746","https://openalex.org/W3104171772"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2319283426","https://openalex.org/W2968643431","https://openalex.org/W2992190745","https://openalex.org/W2979395825","https://openalex.org/W4213037343","https://openalex.org/W4287845917","https://openalex.org/W2912420292","https://openalex.org/W3001737177","https://openalex.org/W3131895052"],"abstract_inverted_index":{"Traditional":[0],"soft":[1],"crawling":[2,32,136,156,173],"robots":[3],"have":[4],"many":[5],"disadvantages,":[6],"including":[7],"their":[8],"complex":[9],"structure,":[10],"difficulty":[11],"in":[12,45],"manufacturing,":[13],"and":[14,41,61,79],"low":[15],"load":[16,102,178],"capacity.":[17,103],"Inspired":[18],"by":[19,121,141],"the":[20,80,86,90,98,101,107,111,117,122,124,135,143,149,152,155,167],"art":[21],"form":[22],"of":[23,52,57,97,106,151,165],"kirigami,":[24],"we":[25],"opted":[26],"to":[27,69],"design":[28],"a":[29,42,55,62,171,177],"soft,":[30],"flat":[31,63],"robot":[33,49,75,112,125,168],"using":[34],"only":[35,77],"simple,":[36],"fast":[37],"laser":[38],"cutting":[39],"technology":[40],"weaving":[43],"method":[44],"this":[46],"study.":[47],"The":[48,72,104],"mainly":[50],"consists":[51],"two":[53],"components:":[54],"piece":[56],"skin":[58],"with":[59],"scales":[60,81,91],"balloon,":[64],"which":[65],"are":[66,92],"weaved":[67],"orthogonally":[68],"each":[70],"other.":[71],"fully":[73],"formed":[74],"weighs":[76],"5g,":[78],"can":[82,126,138,158],"tilt":[83],"up":[84],"after":[85],"balloon":[87,108],"inflates.":[88],"All":[89],"distributed":[93],"on":[94],"one":[95],"side":[96],"robot,":[99],"increasing":[100],"expansion":[105],"ensures":[109],"that":[110,134],"becomes":[113],"contract":[114],"coupled.":[115],"With":[116],"anisotropic":[118],"friction":[119],"provided":[120],"scales,":[123],"now":[127],"crawl":[128],"forward.":[129],"This":[130],"experimental":[131],"work":[132],"demonstrates":[133],"efficiency":[137],"be":[139,160],"improved":[140],"choosing":[142],"appropriate":[144],"pressure":[145,153],"waveform.":[146],"By":[147],"shortening":[148],"period":[150],"waveform,":[154],"speed":[157],"also":[159],"significantly":[161],"improved.":[162],"In":[163],"terms":[164],"loading,":[166],"still":[169],"has":[170],"high":[172],"ability":[174],"when":[175],"carrying":[176],"over":[179],"400":[180],"times":[181],"its":[182],"weight.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
