{"id":"https://openalex.org/W2793792270","doi":"https://doi.org/10.1109/robio.2017.8324694","title":"A spring-like pipe climbing gait for the snake robot","display_name":"A spring-like pipe climbing gait for the snake robot","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2793792270","doi":"https://doi.org/10.1109/robio.2017.8324694","mag":"2793792270"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5039133959","display_name":"Yunhu Zhou","orcid":"https://orcid.org/0000-0002-3532-9477"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhu Zhou","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101470804","display_name":"Yuanfei Zhang","orcid":"https://orcid.org/0000-0003-1022-6882"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanfei Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fenglei Ni","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100410370","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-3629-2626"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9973999857902527,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.8011801242828369},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6509475708007812},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6402264833450317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5731590986251831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5272290706634521},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.506524920463562},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.4958208501338959},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4802534878253937},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4631957411766052},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44957929849624634},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.42750221490859985},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4174201488494873},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41109010577201843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3049766421318054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2992783784866333},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21202310919761658},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21112298965454102},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1406269073486328},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1286531686782837},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07771185040473938}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8011801242828369},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6509475708007812},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6402264833450317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5731590986251831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5272290706634521},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.506524920463562},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.4958208501338959},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4802534878253937},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4631957411766052},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44957929849624634},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.42750221490859985},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4174201488494873},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41109010577201843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3049766421318054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2992783784866333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21202310919761658},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21112298965454102},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1406269073486328},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1286531686782837},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07771185040473938},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1582843692","https://openalex.org/W1727800621","https://openalex.org/W2022302728","https://openalex.org/W2071030813","https://openalex.org/W2084501856","https://openalex.org/W2086933202","https://openalex.org/W2088702872","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2118192364","https://openalex.org/W2127098615","https://openalex.org/W2137383316","https://openalex.org/W2137670317","https://openalex.org/W2140516362","https://openalex.org/W2140789655","https://openalex.org/W2151830656","https://openalex.org/W2256159813","https://openalex.org/W2561055308","https://openalex.org/W2586337659","https://openalex.org/W2594683915","https://openalex.org/W3149811894","https://openalex.org/W3172424995","https://openalex.org/W4301257840","https://openalex.org/W6637532198","https://openalex.org/W6682064433"],"related_works":["https://openalex.org/W2390631805","https://openalex.org/W2148832324","https://openalex.org/W2419200543","https://openalex.org/W1680383221","https://openalex.org/W2809523995","https://openalex.org/W749620525","https://openalex.org/W2998686592","https://openalex.org/W2077555768","https://openalex.org/W2129067615","https://openalex.org/W2333156191"],"abstract_inverted_index":{"In":[0,47],"this":[1],"paper,":[2],"a":[3,23,36,45,54,58,69,116,120],"spring-like":[4],"type":[5],"of":[6,26,28,72,89,99,113],"robot":[7,41],"climbing":[8,20,114],"pipe":[9,21],"gait":[10,32,93,108],"is":[11,33,61,80,94],"proposed":[12],"for":[13,91],"solving":[14],"the":[15,18,29,39,51,66,73,84,87,92,97,107,111],"problem":[16],"that":[17,38,106],"existing":[19],"have":[22],"high":[24],"demand":[25],"continuity":[27],"pipe.":[30,122],"The":[31],"based":[34,64],"on":[35,65],"mode":[37,88],"snake":[40],"model":[42],"stretches":[43],"like":[44],"spring.":[46],"order":[48],"to":[49,82],"realize":[50],"above-mentioned":[52],"gait,":[53],"spatial":[55],"curve":[56,74],"with":[57,75],"functional":[59,100],"partition":[60],"designed.":[62],"Then,":[63],"general":[67],"parameter,":[68],"discretization":[70],"method":[71],"variable":[76],"curvature":[77],"and":[78,119],"torsion":[79],"used":[81],"discretize":[83],"curve.":[85],"Finally,":[86],"motion":[90],"designed":[95],"by":[96],"division":[98],"areas.":[101],"And":[102],"simulation":[103],"results":[104],"verify":[105],"can":[109],"complete":[110],"tasks":[112],"over":[115],"stepped":[117],"shaft":[118],"discontinuous":[121]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}