{"id":"https://openalex.org/W7140668932","doi":"https://doi.org/10.1109/lra.2026.3678003","title":"Advances in Hybrid Modular Climbing Robots: Design Principles and Refinement Strategies","display_name":"Advances in Hybrid Modular Climbing Robots: Design Principles and Refinement Strategies","publication_year":2026,"publication_date":"2026-03-26","ids":{"openalex":"https://openalex.org/W7140668932","doi":"https://doi.org/10.1109/lra.2026.3678003"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3678003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3678003","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/A5102028455","display_name":"Ryan Poon","orcid":"https://orcid.org/0000-0001-9345-7891"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan Poon","raw_affiliation_strings":["Bioinstrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9345-7891","affiliations":[{"raw_affiliation_string":"Bioinstrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054316424","display_name":"I.W. Hunter","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian Hunter","raw_affiliation_strings":["Bioinstrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2218-9516","affiliations":[{"raw_affiliation_string":"Bioinstrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27161334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"6018","last_page":"6025"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.8162999749183655,"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":0.8162999749183655,"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/T10868","display_name":"Soft Robotics and Applications","score":0.06639999896287918,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.03370000049471855,"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/modular-design","display_name":"Modular design","score":0.5396000146865845},{"id":"https://openalex.org/keywords/design-elements-and-principles","display_name":"Design elements and principles","score":0.4593000113964081},{"id":"https://openalex.org/keywords/ideal","display_name":"Ideal (ethics)","score":0.3285999894142151},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3111000061035156},{"id":"https://openalex.org/keywords/modular-construction","display_name":"Modular construction","score":0.27799999713897705}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5396000146865845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5116000175476074},{"id":"https://openalex.org/C33276779","wikidata":"https://www.wikidata.org/wiki/Q1943363","display_name":"Design elements and principles","level":2,"score":0.4593000113964081},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39959999918937683},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.38600000739097595},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.31679999828338623},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3111000061035156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3028999865055084},{"id":"https://openalex.org/C2777614354","wikidata":"https://www.wikidata.org/wiki/Q55648394","display_name":"Modular construction","level":3,"score":0.27799999713897705},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C138852830","wikidata":"https://www.wikidata.org/wiki/Q2292993","display_name":"Design methods","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3678003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3678003","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,139],"paper":[1],"explores":[2],"the":[3,54,58,76,86,91,102,117,125,130],"design":[4,17],"strategies":[5],"for":[6,109,132,145,158],"hybrid":[7,29,149],"pole-":[8],"or":[9,71],"trunk-climbing":[10],"robots,":[11,151],"focusing":[12],"on":[13,42,90],"methods":[14],"to":[15,47,65,88,153],"inform":[16],"decisions":[18],"and":[19,25,36,99,111,122,128,147],"assess":[20],"metrics":[21],"such":[22],"as":[23],"adaptability":[24],"performance.":[26],"A":[27],"wheeled-grasping":[28],"robot":[30,77,87],"with":[31],"modular,":[32],"tendon-driven":[33],"grasping":[34],"arms":[35,60],"a":[37,43,142],"wheeled":[38],"drive":[39],"system":[40],"mounted":[41],"turret":[44],"was":[45],"developed":[46],"climb":[48],"columns":[49],"of":[50,85],"varying":[51],"diameters.":[52],"Here,":[53],"key":[55],"innovation":[56],"is":[57,164],"underactuated":[59],"that":[61],"can":[62],"be":[63],"adjusted":[64],"different":[66],"column":[67,92,103],"sizes":[68],"by":[69,93],"adding":[70],"removing":[72],"modular":[73],"linkages,":[74],"though":[75],"also":[78],"features":[79],"capabilities":[80],"like":[81],"self-locking":[82,110],"(the":[83],"ability":[84],"stay":[89],"friction":[94],"without":[95],"power),":[96],"autonomous":[97,156],"grasping,":[98],"rotation":[100],"around":[101],"axis.":[104],"Mathematical":[105],"models":[106,127],"describe":[107],"conditions":[108],"vertical":[112],"climbing.":[113],"Experimental":[114],"results":[115],"demonstrate":[116],"robot's":[118],"efficacy":[119],"in":[120,136,155],"climbing":[121,150,161],"self-locking,":[123],"validating":[124],"proposed":[126],"highlighting":[129],"potential":[131],"fully":[133],"automated":[134],"solutions":[135],"industrial":[137],"applications.":[138],"work":[140],"provides":[141],"comprehensive":[143],"framework":[144],"evaluating":[146],"designing":[148],"contributing":[152],"advancements":[154],"robotics":[157],"environments":[159],"where":[160],"tall":[162],"structures":[163],"critical.":[165]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-03-27T00:00:00"}