{"id":"https://openalex.org/W4412605441","doi":"https://doi.org/10.1109/lra.2025.3592143","title":"A Curvature-Adaptive Climbing Hexapod Robot","display_name":"A Curvature-Adaptive Climbing Hexapod Robot","publication_year":2025,"publication_date":"2025-07-23","ids":{"openalex":"https://openalex.org/W4412605441","doi":"https://doi.org/10.1109/lra.2025.3592143"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3592143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592143","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5102596093","display_name":"Chengzhang Gong","orcid":"https://orcid.org/0009-0008-1970-6851"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhang Gong","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-1970-6851","affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107196515","display_name":"Li Fan","orcid":"https://orcid.org/0009-0008-9118-5691"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Fan","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-9118-5691","affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415877","display_name":"Shuang Li","orcid":"https://orcid.org/0000-0001-5578-5034"},"institutions":[{"id":"https://openalex.org/I4210109317","display_name":"Wind Power Engineering (Japan)","ror":"https://ror.org/020wewy68","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210109317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuang Li","raw_affiliation_strings":["Sinoma Wind Power Blade (Funing) Company, Ltd., Funing, China","Sinoma Wind Power Blade (Funing) Co.,Ltd., Funing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sinoma Wind Power Blade (Funing) Company, Ltd., Funing, China","institution_ids":["https://openalex.org/I4210109317"]},{"raw_affiliation_string":"Sinoma Wind Power Blade (Funing) Co.,Ltd., Funing, China","institution_ids":["https://openalex.org/I4210109317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050543156","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2759-6364","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11571281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"10","first_page":"9622","last_page":"9629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9983000159263611,"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":0.9904000163078308,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9843840003013611},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7944111227989197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5420040488243103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48300325870513916},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.47863927483558655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25068700313568115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2014513611793518},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14327135682106018},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09631839394569397},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06980472803115845}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9843840003013611},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7944111227989197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5420040488243103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48300325870513916},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.47863927483558655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25068700313568115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2014513611793518},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14327135682106018},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09631839394569397},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06980472803115845}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3592143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592143","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2052391272","https://openalex.org/W2068843098","https://openalex.org/W2080863004","https://openalex.org/W2564207292","https://openalex.org/W2752128035","https://openalex.org/W2790603666","https://openalex.org/W2792422063","https://openalex.org/W2892296513","https://openalex.org/W2919862852","https://openalex.org/W2921067647","https://openalex.org/W2944411112","https://openalex.org/W2979409375","https://openalex.org/W3042937805","https://openalex.org/W3091304796","https://openalex.org/W3119443761","https://openalex.org/W3197787664","https://openalex.org/W3199291005","https://openalex.org/W4280588274","https://openalex.org/W4293763813","https://openalex.org/W4311457283","https://openalex.org/W4312330056","https://openalex.org/W4312363463","https://openalex.org/W4320058877","https://openalex.org/W4387350576","https://openalex.org/W4390099645","https://openalex.org/W4391446555"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W138543751","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128"],"abstract_inverted_index":{"Large":[0],"components,":[1],"such":[2,29],"as":[3],"wind":[4],"turbine":[5,131],"blades,":[6],"often":[7],"exhibit":[8],"significant":[9],"curvature":[10,65,136],"variations,":[11],"presenting":[12],"substantial":[13],"challenges":[14],"for":[15],"climbing":[16,26,85],"robots.":[17],"To":[18,96],"improve":[19],"the":[20,48,82,98],"adaptability":[21],"and":[22,69,77,105,110,122],"mobility":[23],"of":[24,51,135],"hexapod":[25],"robots":[27],"on":[28,87,93,128],"surfaces,":[30],"we":[31,61,101],"propose":[32],"a":[33,54,63,103,126,129],"Curvature-Adaptive":[34],"Hexapod":[35],"robot":[36,83,99],"system.":[37],"The":[38,113],"mechanical":[39],"design":[40],"incorporates":[41],"an":[42,70],"underactuated":[43],"leg":[44],"structure":[45],"to":[46,118,141],"expand":[47],"foot-end":[49],"range":[50],"motion,":[52],"while":[53],"fully":[55],"integrated":[56],"configuration":[57],"facilitates":[58],"deployment.":[59],"Algorithmically,":[60],"introduce":[62],"variable":[64],"adaptive":[66],"control":[67,73],"method":[68],"omnidirectional":[71],"motion":[72],"strategy.":[74],"By":[75],"decoupling":[76],"automatically":[78],"adjusting":[79],"body":[80,120],"posture,":[81],"achieves":[84],"capability":[86],"variably":[88],"curved":[89],"surfaces":[90],"without":[91],"reliance":[92],"external":[94],"sensors.":[95],"validate":[97],"system,":[100],"construct":[102],"prototype":[104],"conduct":[106],"experiments":[107],"in":[108],"simulations":[109],"factory":[111],"settings.":[112],"results":[114],"demonstrate":[115],"its":[116],"ability":[117],"adjust":[119],"posture":[121],"navigate":[123],"omnidirectionally":[124],"along":[125],"path":[127],"real":[130],"blade,":[132],"accommodating":[133],"radius":[134],"variations":[137],"ranging":[138],"from":[139],"2.8":[140],"16.3":[142],"meters.":[143]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}