{"id":"https://openalex.org/W4403600932","doi":"https://doi.org/10.1109/lra.2024.3484179","title":"A Spiny Claws Climbing Robot Based on Self-Sensing Soles","display_name":"A Spiny Claws Climbing Robot Based on Self-Sensing Soles","publication_year":2024,"publication_date":"2024-10-21","ids":{"openalex":"https://openalex.org/W4403600932","doi":"https://doi.org/10.1109/lra.2024.3484179"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3484179","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3484179","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/A5100448649","display_name":"Rui Li","orcid":"https://orcid.org/0000-0003-3871-188X"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Li","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0003-3871-188X","affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071996563","display_name":"Changze Wu","orcid":"https://orcid.org/0000-0001-5015-4153"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changze Wu","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114028406","display_name":"Shuang Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Yan","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chuan Li","orcid":"https://orcid.org/0000-0002-1809-8128"},"institutions":[{"id":"https://openalex.org/I145581781","display_name":"Chongqing Technology and Business University","ror":"https://ror.org/05hqf1284","country_code":"CN","type":"education","lineage":["https://openalex.org/I145581781"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuan Li","raw_affiliation_strings":["Research Center for System Health Management, Chongqing Technology and Business University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-1809-8128","affiliations":[{"raw_affiliation_string":"Research Center for System Health Management, Chongqing Technology and Business University, Chongqing, China","institution_ids":["https://openalex.org/I145581781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078908602","display_name":"Xinglong Gong","orcid":"https://orcid.org/0000-0001-6997-9526"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinglong Gong","raw_affiliation_strings":["CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China (USTC), Hefei, China","CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China (USTC), Hefei, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0001-6997-9526","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China (USTC), Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China (USTC), Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719568","display_name":"Chul-Hee Lee","orcid":"https://orcid.org/0000-0003-1095-3713"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chul-Hee Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Inha University, Incheon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-1095-3713","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Inha University, Incheon, South Korea","institution_ids":["https://openalex.org/I191879574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039628164","display_name":"Mengjie Shou","orcid":"https://orcid.org/0000-0002-4369-1177"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengjie Shou","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-4369-1177","affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5593,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62317708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"9","issue":"12","first_page":"10906","last_page":"10913"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9732000231742859,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9732000231742859,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.95660001039505,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9279999732971191,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.8052409291267395},{"id":"https://openalex.org/keywords/claw","display_name":"Claw","score":0.8021789789199829},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5126115679740906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4361695647239685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3652344346046448},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.3452180027961731},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.3360782265663147},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.12307155132293701}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8052409291267395},{"id":"https://openalex.org/C29738020","wikidata":"https://www.wikidata.org/wiki/Q217605","display_name":"Claw","level":2,"score":0.8021789789199829},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5126115679740906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4361695647239685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3652344346046448},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.3452180027961731},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.3360782265663147},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.12307155132293701}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3484179","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3484179","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1494285813","https://openalex.org/W1953078217","https://openalex.org/W2000359430","https://openalex.org/W2068843098","https://openalex.org/W2790459340","https://openalex.org/W2799466552","https://openalex.org/W3040788608","https://openalex.org/W3061554253","https://openalex.org/W3112407809","https://openalex.org/W3130903339","https://openalex.org/W3157573901","https://openalex.org/W3170719813","https://openalex.org/W3198196772","https://openalex.org/W3206172433","https://openalex.org/W3208020420","https://openalex.org/W4223987274","https://openalex.org/W4225001005","https://openalex.org/W4282833230","https://openalex.org/W4293763813","https://openalex.org/W4316806159","https://openalex.org/W4317743407"],"related_works":["https://openalex.org/W2401080772","https://openalex.org/W2011147476","https://openalex.org/W4362553897","https://openalex.org/W2169421841","https://openalex.org/W2152127643","https://openalex.org/W2761515207","https://openalex.org/W2134049477","https://openalex.org/W3201237109","https://openalex.org/W4206407139","https://openalex.org/W2072842582"],"abstract_inverted_index":{"Adaptive":[0],"climbing":[1,33,90,106,112,164,186],"on":[2,36,63,129,147,165],"different":[3,130,149],"surfaces":[4,132],"is":[5,122,160,181],"a":[6,14,31,41,52,56,88,166],"great":[7],"challenge":[8],"for":[9],"conventional":[10],"robots":[11],"due":[12],"to":[13,82,141],"lack":[15],"of":[16,25,103,114,136,157],"self-sensing":[17,37,85,96,105,116,190],"capabilities.":[18],"Inspired":[19],"by":[20,46],"the":[21,71,79,84,100,104,111,115,125,154,158,175,185,189],"exceptional":[22],"sensing":[23],"ability":[24],"feline":[26],"soles,":[27],"this":[28],"study":[29],"proposes":[30],"quadrupedal":[32,89],"robot":[34,91,107,117,126,159,176],"based":[35,62],"spiny-claw":[38,42,80,97],"soles.":[39,98],"First,":[40],"sole":[43,81],"was":[44,60,76,92,108,118],"designed":[45,61,93],"embedding":[47],"stainless":[48],"steel":[49],"spines":[50],"into":[51,78],"soft":[53],"substrate.":[54],"Next,":[55],"tensile":[57],"strain":[58],"sensor":[59],"carbon":[64],"nanotubes":[65],"and":[66,74,146,192],"carbonyl":[67],"iron":[68],"powder":[69],"through":[70,188],"squash":[72],"method":[73],"then":[75],"integrated":[77],"fabricate":[83],"sole.":[86],"Then,":[87],"using":[94],"four":[95],"Subsequently,":[99],"control":[101],"strategy":[102],"designed.":[109],"Finally,":[110],"performance":[113],"experimentally":[119],"tested.":[120],"It":[121],"demonstrated":[123],"that":[124],"can":[127,177],"climb":[128],"inclined":[131,171],"with":[133],"an":[134,182],"angle":[135],"0<inline-formula":[137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138,143,168],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[139,144,169],"notation=\"LaTeX\">$^\\circ$</tex-math></inline-formula>":[140,145,170],"75<inline-formula":[142],"three":[148],"rough":[150],"surfaces.":[151],"In":[152],"addition,":[153],"maximum":[155],"load":[156],"175":[161],"g":[162],"when":[163],"45<inline-formula":[167],"surface.":[172],"More":[173],"importantly,":[174],"detect":[178],"whether":[179],"there":[180],"obstacle":[183,195],"in":[184],"path":[187],"soles":[191],"perform":[193],"appropriate":[194],"avoidance":[196],"operations":[197],"accordingly.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}