{"id":"https://openalex.org/W4390099767","doi":"https://doi.org/10.1109/robio58561.2023.10354868","title":"Design and Modeling of a Novel Mobile Wall-Climbing Robot with a Long-span Foldable Mechanical Arm*","display_name":"Design and Modeling of a Novel Mobile Wall-Climbing Robot with a Long-span Foldable Mechanical Arm*","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099767","doi":"https://doi.org/10.1109/robio58561.2023.10354868"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5100351209","display_name":"Yixin Zhang","orcid":"https://orcid.org/0000-0002-6669-4995"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yixin Zhang","raw_affiliation_strings":["Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103127047","display_name":"Haoning Wang","orcid":"https://orcid.org/0000-0002-4105-8394"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoning Wang","raw_affiliation_strings":["Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067007001","display_name":"Changwei Huang","orcid":"https://orcid.org/0000-0002-1401-1152"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changwei Huang","raw_affiliation_strings":["Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101925108","display_name":"Xingfei Zhou","orcid":"https://orcid.org/0000-0002-1856-4969"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingfei Zhou","raw_affiliation_strings":["Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063373860","display_name":"Wei Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Hao","raw_affiliation_strings":["Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109312330","display_name":"Siyuan Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Jin","raw_affiliation_strings":["Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055163407","display_name":"Shaoping Wang","orcid":"https://orcid.org/0000-0002-8102-3436"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoping Wang","raw_affiliation_strings":["Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","Ningbo Institute of Technology, Beihang University, Ningbo, China"],"affiliations":[{"raw_affiliation_string":"Beihang University,Department of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Ningbo Institute of Technology, Beihang University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100351209"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.1125,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43263473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9864000082015991,"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"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.7316023707389832},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6555349826812744},{"id":"https://openalex.org/keywords/span","display_name":"Span (engineering)","score":0.5466930270195007},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.5075215101242065},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48250365257263184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4530699551105499},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4511028826236725},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4370650053024292},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3194667100906372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16130885481834412}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7316023707389832},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6555349826812744},{"id":"https://openalex.org/C2778753569","wikidata":"https://www.wikidata.org/wiki/Q1960395","display_name":"Span (engineering)","level":2,"score":0.5466930270195007},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.5075215101242065},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48250365257263184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4530699551105499},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4511028826236725},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4370650053024292},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3194667100906372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16130885481834412},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2612622713","https://openalex.org/W2905335417","https://openalex.org/W2999103112","https://openalex.org/W3033370949","https://openalex.org/W3170719813","https://openalex.org/W3181643320","https://openalex.org/W3213490840","https://openalex.org/W3213811095","https://openalex.org/W4206708134","https://openalex.org/W4220835024","https://openalex.org/W4225596244","https://openalex.org/W4281945309","https://openalex.org/W4292451984","https://openalex.org/W4316806159","https://openalex.org/W4366679997"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W643038845","https://openalex.org/W3156164993","https://openalex.org/W4390135167","https://openalex.org/W2968643431","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,95],"provide":[3],"more":[4,118],"possibilities":[5],"for":[6,88],"replacing":[7],"manual":[8],"work":[9],"in":[10,22],"perilous":[11],"high-altitude":[12],"building":[13],"operations,":[14],"A":[15,45],"novel":[16],"mobile":[17],"wall-climbing":[18,71],"robot":[19,28,72,115],"is":[20,29,63,75],"developed":[21],"this":[23],"paper,":[24],"named":[25],"ClimBot-I.":[26],"This":[27],"equipped":[30],"with":[31,50,122],"a":[32,40,54],"lightweight,":[33],"foldable,":[34],"long-span":[35],"mechanical":[36],"arm":[37],"that":[38],"enables":[39],"wide":[41],"range":[42],"of":[43,53,68,82],"functions.":[44],"highly":[46],"reliable":[47],"adsorption":[48],"device":[49],"the":[51,60,69,83,85,93,123,132],"design":[52],"cyclone":[55],"suction":[56],"cup":[57],"based":[58],"on":[59,105,125,131],"Bernoulli":[61],"principle":[62],"proposed.":[64],"The":[65,101,114],"dynamic":[66],"modeling":[67],"whole":[70],"accompanying":[73],"manipulator":[74,124],"completed.":[76],"Through":[77],"no-load":[78],"and":[79,92,127],"load":[80],"experiments":[81],"robot,":[84],"excellent":[86],"adaptability":[87],"various":[89],"wall":[90],"surfaces":[91],"ability":[94],"achieve":[96],"stable":[97],"adhesion":[98],"are":[99,112],"shown.":[100],"execute":[102],"prescribed":[103],"maneuvers":[104],"smooth":[106],"substrates":[107],"such":[108],"as":[109],"plastered":[110],"walls":[111],"demonstrated.":[113],"can":[116,128],"carry":[117],"than":[119],"3.6":[120],"kg":[121],"board":[126],"move":[129],"freely":[130],"wall,":[133],"which":[134],"illustrate":[135],"its":[136],"broad":[137],"application":[138],"prospects.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
