{"id":"https://openalex.org/W4408859827","doi":"https://doi.org/10.1109/lra.2025.3555143","title":"Inchworm-Inspired Bipedal Crawling Soft Robot With Forward and Backward Locomotion for Confined Spaces","display_name":"Inchworm-Inspired Bipedal Crawling Soft Robot With Forward and Backward Locomotion for Confined Spaces","publication_year":2025,"publication_date":"2025-03-26","ids":{"openalex":"https://openalex.org/W4408859827","doi":"https://doi.org/10.1109/lra.2025.3555143"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3555143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3555143","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/A5101421344","display_name":"Yue Di","orcid":"https://orcid.org/0009-0000-5547-6186"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Di","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":"https://orcid.org/0009-0000-5547-6186","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuyan Zhang","orcid":"https://orcid.org/0000-0002-6062-6668"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuyan Zhang","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":"https://orcid.org/0000-0002-6062-6668","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020982041","display_name":"Yintang Wen","orcid":"https://orcid.org/0000-0001-7178-3805"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yintang Wen","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":"https://orcid.org/0000-0001-7178-3805","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079876988","display_name":"Pengpeng He","orcid":"https://orcid.org/0000-0002-3634-0299"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengpeng He","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110390662","display_name":"Sanchuan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sanchuan Li","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000941113","display_name":"Haiying Yao","orcid":"https://orcid.org/0009-0005-4445-2054"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiying Yao","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":"https://orcid.org/0009-0005-4445-2054","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041134527","display_name":"ZIQING zhou","orcid":"https://orcid.org/0009-0005-1576-522X"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixiang Zhou","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":"https://orcid.org/0009-0005-1576-522X","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103496682","display_name":"Zhixin Ren","orcid":"https://orcid.org/0000-0003-0808-757X"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhixin Ren","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, China","School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015373544","display_name":"Hongmiao Tian","orcid":"https://orcid.org/0000-0002-7377-8492"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongmiao Tian","raw_affiliation_strings":["Micro-and Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","Micro-and Nanotechnology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-7377-8492","affiliations":[{"raw_affiliation_string":"Micro-and Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Micro-and Nanotechnology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089597244","display_name":"Jinyou Shao","orcid":"https://orcid.org/0000-0003-2525-4587"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinyou Shao","raw_affiliation_strings":["Micro-and Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","Micro-and Nanotechnology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-2525-4587","affiliations":[{"raw_affiliation_string":"Micro-and Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Micro-and Nanotechnology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6693,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8893453,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"10","issue":"6","first_page":"5839","last_page":"5846"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9980000257492065,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9980000257492065,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9925000071525574,"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/crawling","display_name":"Crawling","score":0.9698488712310791},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6764892339706421},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6130084991455078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5231486558914185},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5137742161750793},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.44031697511672974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38938260078430176},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3529905080795288},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.35118111968040466},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34737712144851685},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19562381505966187},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.19469264149665833},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.18217971920967102},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1615317165851593},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1388612687587738}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9698488712310791},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6764892339706421},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6130084991455078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5231486558914185},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5137742161750793},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.44031697511672974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38938260078430176},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3529905080795288},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.35118111968040466},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34737712144851685},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19562381505966187},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.19469264149665833},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.18217971920967102},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1615317165851593},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1388612687587738}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3555143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3555143","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/G6217394854","display_name":null,"funder_award_id":"F2024203074","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"}],"funders":[{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1580497341","https://openalex.org/W2737689118","https://openalex.org/W2784911769","https://openalex.org/W2785110060","https://openalex.org/W2789418330","https://openalex.org/W2892188303","https://openalex.org/W2911624429","https://openalex.org/W2914312098","https://openalex.org/W2961058932","https://openalex.org/W2977674090","https://openalex.org/W2987009502","https://openalex.org/W3080867664","https://openalex.org/W3165209381","https://openalex.org/W4210818687","https://openalex.org/W4213086151","https://openalex.org/W4256346023","https://openalex.org/W4281669098","https://openalex.org/W4283267185","https://openalex.org/W4283837926","https://openalex.org/W4353038816","https://openalex.org/W4365812381","https://openalex.org/W4381987661","https://openalex.org/W4385452870"],"related_works":["https://openalex.org/W2968643431","https://openalex.org/W2942196653","https://openalex.org/W2998506550","https://openalex.org/W1972877171","https://openalex.org/W4390135167","https://openalex.org/W2188053476","https://openalex.org/W2169712669","https://openalex.org/W2599193808","https://openalex.org/W2321283884","https://openalex.org/W4289731088"],"abstract_inverted_index":{"Soft":[0],"crawling":[1,17,32,43,69,80,174,202,212,220,230,250,271],"robots":[2,18,46],"have":[3],"broad":[4],"application":[5],"prospects":[6],"in":[7,33,72,176,197,236],"rescue,":[8],"exploration,":[9],"and":[10,41,90,104,110,121,140,149,164,179,189,235,253,264],"medical":[11],"fields.":[12],"Currently,":[13],"many":[14],"bionic":[15,67,219,269],"soft":[16,68,81,130,201,218,270],"achieve":[19,119],"multi-directional":[20],"locomotion":[21,123,255],"through":[22,93],"steering":[23,27,58],"mechanisms.":[24],"However,":[25],"their":[26],"capabilities":[28],"are":[29,60,182,194],"limited":[30],"when":[31],"pipes":[34],"or":[35],"confined":[36,73,237],"spaces,":[37],"preventing":[38],"autonomous":[39],"retreat":[40],"restricting":[42],"performance.":[44],"Therefore,":[45],"capable":[47],"of":[48,66,98,146,200,207],"bidirectional":[49,211,229],"movement":[50,92,167],"with":[51,216],"easy":[52],"directional":[53],"switching,":[54],"without":[55,258],"relying":[56],"on":[57,231],"functions,":[59],"key":[61],"to":[62,248],"overcoming":[63],"the":[64,85,99,105,116,157,161,177,195,205],"limitations":[65],"robots'":[70],"performance":[71],"spaces.":[74],"This":[75],"paper":[76],"proposes":[77],"a":[78,135,141,147,217,262],"bipedal":[79,100],"robot":[82,101,117,131,221,227,272],"inspired":[83],"by":[84,124],"inchworm,":[86],"which":[87,193],"achieves":[88],"forward":[89,120,178,252],"backward":[91],"posture":[94,163],"control.":[95],"The":[96,172,226],"structure":[97,107],"was":[102,108,132,152,256],"designed,":[103],"robot's":[106,162],"modeled":[109],"simulated.":[111],"Simulation":[112],"results":[113],"show":[114],"that":[115],"can":[118,169],"reverse":[122,180,254],"altering":[125],"its":[126,166,198],"posture.":[127],"A":[128],"fully":[129],"fabricated":[133],"using":[134],"flexible":[136],"magnetically":[137],"driven":[138],"membrane,":[139],"magnetic":[142,158,245],"actuation":[143],"system":[144],"consisting":[145],"microcontroller":[148],"bar":[150],"magnets":[151],"constructed.":[153],"By":[154,242],"simply":[155],"changing":[156],"field":[159,246],"strength,":[160],"thus":[165],"direction":[168],"be":[170],"altered.":[171],"maximum":[173],"speeds":[175,215],"directions":[181],"1.8":[183],"body":[184],"lengths":[185],"per":[186],"second":[187],"(bl/s)":[188],"0.51":[190],"bl/s,":[191],"respectively,":[192],"best":[196,206],"class":[199],"robots.":[203],"To":[204],"our":[208],"knowledge,":[209],"achieving":[210],"at":[213],"such":[214,239],"has":[222],"never":[223],"been":[224],"accomplished.":[225],"achieved":[228],"different":[232],"rough":[233],"surfaces":[234],"spaces":[238],"as":[240],"pipes.":[241],"leveraging":[243],"simple":[244],"modulation":[247],"adjust":[249],"posture,":[251],"realized":[257],"structural":[259],"alterations,":[260],"offering":[261],"scalable":[263],"practical":[265],"solution":[266],"for":[267],"advancing":[268],"applications.":[273]},"counts_by_year":[{"year":2026,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
