{"id":"https://openalex.org/W4390969261","doi":"https://doi.org/10.1109/lra.2024.3355631","title":"Transition Gradient From Standing to Traveling Waves for Energy-Efficient Slope Climbing of a Gecko-Inspired Robot","display_name":"Transition Gradient From Standing to Traveling Waves for Energy-Efficient Slope Climbing of a Gecko-Inspired Robot","publication_year":2024,"publication_date":"2024-01-18","ids":{"openalex":"https://openalex.org/W4390969261","doi":"https://doi.org/10.1109/lra.2024.3355631"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3355631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3355631","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/A5063275469","display_name":"Worasuchad Haomachai","orcid":"https://orcid.org/0000-0001-6729-3133"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Worasuchad Haomachai","raw_affiliation_strings":["Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100746667","display_name":"Zhendong Dai","orcid":"https://orcid.org/0000-0002-1276-7466"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhendong Dai","raw_affiliation_strings":["Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034246691","display_name":"Poramate Manoonpong","orcid":"https://orcid.org/0000-0002-4806-7576"},"institutions":[{"id":"https://openalex.org/I4210153049","display_name":"Vidyasirimedhi Institute of Science and Technology","ror":"https://ror.org/053jehz60","country_code":"TH","type":"education","lineage":["https://openalex.org/I4210153049"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN","TH"],"is_corresponding":false,"raw_author_name":"Poramate Manoonpong","raw_affiliation_strings":["Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","Bio-inspired Robotics & Neural Engineering Lab, School of Information Science & Technology, Vidyasirimedhi Institute of Science & Technology, Rayong, Thailand"],"affiliations":[{"raw_affiliation_string":"Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Bio-inspired Robotics & Neural Engineering Lab, School of Information Science & Technology, Vidyasirimedhi Institute of Science & Technology, Rayong, Thailand","institution_ids":["https://openalex.org/I4210153049"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063275469"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":1.7526,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82654705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"2423","last_page":"2430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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":0.8747568130493164},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6055402755737305},{"id":"https://openalex.org/keywords/standing-wave","display_name":"Standing wave","score":0.5480591654777527},{"id":"https://openalex.org/keywords/gecko","display_name":"Gecko","score":0.4806062877178192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3703145980834961},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3460402488708496},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32699593901634216},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.25166618824005127},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.24008452892303467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2252749502658844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21625614166259766},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09931346774101257}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8747568130493164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6055402755737305},{"id":"https://openalex.org/C199956316","wikidata":"https://www.wikidata.org/wiki/Q123300","display_name":"Standing wave","level":2,"score":0.5480591654777527},{"id":"https://openalex.org/C2781006323","wikidata":"https://www.wikidata.org/wiki/Q16546828","display_name":"Gecko","level":2,"score":0.4806062877178192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3703145980834961},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3460402488708496},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32699593901634216},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.25166618824005127},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.24008452892303467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2252749502658844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21625614166259766},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09931346774101257},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3355631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3355631","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":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2034701228","https://openalex.org/W2069852697","https://openalex.org/W2101850483","https://openalex.org/W2125779054","https://openalex.org/W2149687052","https://openalex.org/W2469381446","https://openalex.org/W2587536580","https://openalex.org/W3015383613","https://openalex.org/W3118060352","https://openalex.org/W3120202658","https://openalex.org/W3145973578","https://openalex.org/W3147007112","https://openalex.org/W3189208719","https://openalex.org/W3190001824","https://openalex.org/W3195294278","https://openalex.org/W4214819431","https://openalex.org/W4283589384","https://openalex.org/W4285209894","https://openalex.org/W4317547177"],"related_works":["https://openalex.org/W2106504650","https://openalex.org/W2920371821","https://openalex.org/W2175115681","https://openalex.org/W2414459315","https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2157113937","https://openalex.org/W2296964763","https://openalex.org/W2164614103","https://openalex.org/W2168556971"],"abstract_inverted_index":{"Lateral":[0],"undulation":[1],"patterns":[2,168],"of":[3,35,55,60,160,190],"a":[4,36,40,47,52,77,84,91,106,131,176,183],"flexible":[5],"spine,":[6],"including":[7],"standing":[8,85,140],"waves,":[9,11],"traveling":[10,61,92,142],"and":[12,17,63],"their":[13],"transitions,":[14],"enable":[15],"agile":[16],"versatile":[18],"locomotion":[19],"in":[20],"sprawling":[21],"animals.":[22],"Inspired":[23],"by":[24,125,181],"this,":[25],"we":[26,50,75,116],"proposed":[27],"body-wave":[28,78],"transition":[29,82,137],"strategies":[30],"for":[31,101,157],"energy-efficient":[32,99],"inclined-surface":[33],"climbing":[34,68,100,129,161],"gecko-inspired":[37],"robot":[38,45,108,120],"with":[39,130,144,169],"bendable":[41],"body.":[42],"Using":[43],"the":[44,111,119,136,155,158,187],"as":[46],"scientific":[48],"tool,":[49],"searched":[51],"large":[53],"space":[54],"body":[56,166],"movements":[57],"(i.e.,":[58],"percentage":[59],"waves":[62,143],"stride":[64],"frequency)":[65],"to":[66,80,90,97,128,135,141,179],"explore":[67],"performance":[69],"at":[70,87,94],"different":[71],"slope":[72,103,113],"angles.":[73],"Consequently,":[74],"designed":[76],"strategy":[79],"smoothly":[81],"from":[83,139],"wave":[86,93],"low":[88],"speeds":[89,96],"high":[95],"achieve":[98],"each":[102],"angle.":[104],"Through":[105],"real":[107],"experiment":[109],"on":[110],"steepest":[112],"(30":[114],"degrees),":[115],"demonstrated":[117],"that":[118,163],"can":[121,153,174],"reduce":[122],"energy":[123,188],"consumption":[124],"7%":[126],"compared":[127],"constant-body":[132],"movement":[133,167],"owing":[134],"gradient":[138],"an":[145],"optimal":[146],"speed.":[147],"To":[148],"this":[149],"end,":[150],"our":[151],"study":[152],"pave":[154],"way":[156],"development":[159],"robots":[162],"utilize":[164],"multiple":[165],"smooth":[170],"transitions.":[171],"Moreover,":[172],"it":[173],"make":[175],"valuable":[177],"contribution":[178],"biologists":[180],"formulating":[182],"novel":[184],"hypothesis":[185],"concerning":[186],"efficiency":[189],"gecko":[191],"climbing.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}