{"id":"https://openalex.org/W2060672380","doi":"https://doi.org/10.1109/robio.2012.6491148","title":"A method for optimal design of an inchworm climbing robot","display_name":"A method for optimal design of an inchworm climbing robot","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2060672380","doi":"https://doi.org/10.1109/robio.2012.6491148","mag":"2060672380"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5084361831","display_name":"David Pagano","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"David Pagano","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology, Sydney, NSW 2007, Australia","Centre for Autonomous Systems, University of Technology Sydney, NSW 2007, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology, Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035571131","display_name":"Dikai Liu","orcid":"https://orcid.org/0000-0002-1581-5582"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dikai Liu","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology, Sydney, NSW 2007, Australia","Centre for Autonomous Systems, University of Technology Sydney, NSW 2007, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology, Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028963289","display_name":"Kenneth J. Waldron","orcid":"https://orcid.org/0000-0002-7910-4907"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kenneth Waldron","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology, Sydney, NSW 2007, Australia","Centre for Autonomous Systems, University of Technology Sydney, NSW 2007, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology, Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1293","last_page":"1298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9957000017166138,"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/T13715","display_name":"Power Line Inspection Robots","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hazardous-waste","display_name":"Hazardous waste","score":0.7056359052658081},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6763986349105835},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.5474787354469299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5075935125350952},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.46209779381752014},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.414402574300766},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.3537612855434418},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3497001528739929},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.11670851707458496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10722145438194275},{"id":"https://openalex.org/keywords/waste-management","display_name":"Waste management","score":0.0814049243927002},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07285493612289429}],"concepts":[{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.7056359052658081},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6763986349105835},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.5474787354469299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5075935125350952},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.46209779381752014},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.414402574300766},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3537612855434418},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3497001528739929},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.11670851707458496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10722145438194275},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0814049243927002},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07285493612289429},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2012.6491148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/23117","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/23117","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W5593826","https://openalex.org/W641034164","https://openalex.org/W1967254051","https://openalex.org/W1968411483","https://openalex.org/W1969699101","https://openalex.org/W1974579879","https://openalex.org/W2012223795","https://openalex.org/W2017696512","https://openalex.org/W2021155711","https://openalex.org/W2113642395","https://openalex.org/W2117240336","https://openalex.org/W2130750661","https://openalex.org/W2318957292","https://openalex.org/W3146221501","https://openalex.org/W6600214886","https://openalex.org/W6620788819"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2026800644","https://openalex.org/W2262977212","https://openalex.org/W2399879014","https://openalex.org/W4294280823","https://openalex.org/W2367560064","https://openalex.org/W3152855488","https://openalex.org/W2582604963","https://openalex.org/W2030361773","https://openalex.org/W347587074"],"abstract_inverted_index":{"Many":[0],"ferromagnetic":[1],"structures":[2],"require":[3],"regular":[4],"inspection":[5,67],"and":[6,14,35,47,69,73,83,101,113],"maintenance":[7,77],"to":[8,22,39,117,121,130],"ensure":[9],"their":[10],"longevity,":[11],"structural":[12],"integrity":[13],"aesthetics.":[15],"These":[16],"operations":[17],"are":[18,26],"often":[19],"very":[20],"hazardous":[21,40],"workers,":[23],"as":[24,43,57],"they":[25],"normally":[27],"performed":[28],"at":[29],"height":[30],"or":[31],"in":[32,90],"confined":[33],"spaces,":[34],"can":[36],"expose":[37],"workers":[38],"materials":[41],"such":[42,92],"lead":[44],"based":[45],"paints":[46],"vehicle":[48],"fumes.":[49],"An":[50],"inchworm":[51,94],"climbing":[52],"robot":[53,95],"has":[54],"been":[55],"proposed":[56],"a":[58,86,115],"solution":[59],"that":[60],"would":[61],"improve":[62],"the":[63,66,70,76,98,119,123,127,131,134],"quality":[64],"of":[65,88,126,133],"procedure":[68],"occupational":[71],"health":[72],"safety":[74,102],"for":[75,109],"personnel":[78],"while":[79],"reducing":[80],"setup":[81],"times":[82],"costs.":[84],"However,":[85],"number":[87],"challenges":[89,108],"designing":[91],"an":[93],"arise":[96],"from":[97],"environmental,":[99],"mobility":[100],"factors.":[103],"This":[104],"paper":[105],"describes":[106],"these":[107],"given":[110],"design":[111,120],"applications":[112],"presents":[114],"method":[116],"optimise":[118],"address":[122],"challenges.":[124],"Analyses":[125],"results":[128],"attest":[129],"feasibility":[132],"solution.":[135]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}