{"id":"https://openalex.org/W4403918414","doi":"https://doi.org/10.1109/tie.2024.3481878","title":"A Miniature Pole-Climbing Piezoelectric Robot With Fast and Load-Towable Movement Inspired by Squirrel\u2019s Galloping Gait","display_name":"A Miniature Pole-Climbing Piezoelectric Robot With Fast and Load-Towable Movement Inspired by Squirrel\u2019s Galloping Gait","publication_year":2024,"publication_date":"2024-10-30","ids":{"openalex":"https://openalex.org/W4403918414","doi":"https://doi.org/10.1109/tie.2024.3481878"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3481878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3481878","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","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":null,"display_name":"Xiang Li","orcid":"https://orcid.org/0009-0008-1810-0030"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0008-1810-0030","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047982398","display_name":"Zhaochun Ding","orcid":"https://orcid.org/0000-0002-0014-8633"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaochun Ding","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-0014-8633","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060833442","display_name":"Jiang Wu","orcid":"https://orcid.org/0000-0002-6899-5601"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang Wu","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-6899-5601","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111983074","display_name":"Wentao Wei","orcid":"https://orcid.org/0009-0009-9190-3048"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wentao Wei","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0009-9190-3048","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100378200","display_name":"Lipeng Wang","orcid":"https://orcid.org/0009-0001-6019-1828"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lipeng Wang","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0001-6019-1828","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047000623","display_name":"Yanhu Zhang","orcid":"https://orcid.org/0000-0002-8668-3708"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhu Zhang","raw_affiliation_strings":["Institute of Advanced Manufacturing and Modern Equipment Technology, Jiangsu University, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-8668-3708","affiliations":[{"raw_affiliation_string":"Institute of Advanced Manufacturing and Modern Equipment Technology, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dong Li","orcid":"https://orcid.org/0009-0003-2412-5473"},"institutions":[{"id":"https://openalex.org/I4210099747","display_name":"GoerTek (China)","ror":"https://ror.org/016v9qm56","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210099747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Li","raw_affiliation_strings":["Weifang Goertek Microelectronics Company, Ltd., Weifang, China"],"raw_orcid":"https://orcid.org/0009-0003-2412-5473","affiliations":[{"raw_affiliation_string":"Weifang Goertek Microelectronics Company, Ltd., Weifang, China","institution_ids":["https://openalex.org/I4210099747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025820722","display_name":"Xuewen Rong","orcid":"https://orcid.org/0000-0003-3283-5347"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuewen Rong","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-3283-5347","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101645277","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-4119-4433","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-5906-5074","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Jinan, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8194,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.84643709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"72","issue":"5","first_page":"5221","last_page":"5233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9890000224113464,"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":0.9890000224113464,"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":0.9704999923706055,"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":0.9531999826431274,"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":0.7163751721382141},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6975012421607971},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.5947891473770142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5848327875137329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4835081398487091},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.45638611912727356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36726588010787964},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.35610437393188477},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21059298515319824},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.20949402451515198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17935645580291748},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13529396057128906}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7163751721382141},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6975012421607971},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.5947891473770142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5848327875137329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4835081398487091},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.45638611912727356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36726588010787964},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.35610437393188477},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21059298515319824},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.20949402451515198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17935645580291748},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13529396057128906},{"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/tie.2024.3481878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3481878","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1137339082","display_name":null,"funder_award_id":"tsqn202306052","funder_id":"https://openalex.org/F4320326185","funder_display_name":"Taishan Scholar Foundation of Shandong Province"},{"id":"https://openalex.org/G2119093132","display_name":null,"funder_award_id":"52475022","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3391212120","display_name":null,"funder_award_id":"52105029","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7411164083","display_name":null,"funder_award_id":"62188101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8136135922","display_name":null,"funder_award_id":"ZR2021QE0200","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320326185","display_name":"Taishan Scholar Foundation of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W2000359430","https://openalex.org/W2029624917","https://openalex.org/W2056004369","https://openalex.org/W2124598032","https://openalex.org/W2125095347","https://openalex.org/W2132420930","https://openalex.org/W2274905722","https://openalex.org/W2285664889","https://openalex.org/W2783801856","https://openalex.org/W2783899135","https://openalex.org/W2784186685","https://openalex.org/W2898303562","https://openalex.org/W2904580343","https://openalex.org/W2905335417","https://openalex.org/W2955102412","https://openalex.org/W2970859833","https://openalex.org/W3008506267","https://openalex.org/W3089426673","https://openalex.org/W3145973578","https://openalex.org/W3151834550","https://openalex.org/W3158318632","https://openalex.org/W3195761417","https://openalex.org/W4205957821","https://openalex.org/W4223987274","https://openalex.org/W4281488069","https://openalex.org/W4281945309","https://openalex.org/W4285120792","https://openalex.org/W4300596816","https://openalex.org/W4310202175","https://openalex.org/W4312330056","https://openalex.org/W4312363463","https://openalex.org/W4312478095","https://openalex.org/W4312975081","https://openalex.org/W4317796395","https://openalex.org/W4318499512","https://openalex.org/W4319303941","https://openalex.org/W4372055330","https://openalex.org/W4377696043","https://openalex.org/W4385224616","https://openalex.org/W4386362886","https://openalex.org/W4387036144","https://openalex.org/W4387965408","https://openalex.org/W4389161194","https://openalex.org/W4390632209","https://openalex.org/W4392763425","https://openalex.org/W4393346228","https://openalex.org/W4396506584","https://openalex.org/W4399571978"],"related_works":["https://openalex.org/W2133973503","https://openalex.org/W2471060339","https://openalex.org/W2148547327","https://openalex.org/W4226236273","https://openalex.org/W2125892956","https://openalex.org/W2130975749","https://openalex.org/W2493973380","https://openalex.org/W2394835211","https://openalex.org/W2809084995","https://openalex.org/W2729676947"],"abstract_inverted_index":{"This":[0,167],"article":[1,168],"presents":[2],"a":[3,17,70,79],"miniature":[4],"pole-climbing":[5],"piezoelectric":[6,182],"robot":[7],"(MPCPR)":[8],"with":[9,184],"fast":[10],"and":[11,27,46,91,98,109,123,175],"load-towable":[12],"movement.":[13],"Basically,":[14],"it":[15,59,158],"incorporates":[16],"pair":[18],"of":[19,120,128,152,164,187],"alumina":[20],"transducers,":[21],"where":[22],"the":[23,36,41,48,54,63,75,113,116,124,141,150,160,170,185],"third":[24],"bending":[25,29],"(B3)":[26],"second":[28],"(B2)":[30],"vibrations":[31],"are":[32],"excited":[33],"independently":[34],"in":[35,89,94,143,149],"time":[37],"domain":[38],"to":[39,43,73,132,179],"enable":[40],"MPCPR":[42,114],"climb":[44,139],"up":[45,140,190],"down":[47],"external":[49,191],"tubes;":[50],"this":[51],"interestingly":[52],"imitates":[53],"squirrel\u2019s":[55],"galloping":[56],"gait":[57],"when":[58],"climbs":[60],"trees.":[61],"First,":[62],"transducer":[64],"was":[65,96,102],"structurally":[66],"optimized":[67],"by":[68],"constructing":[69],"Krimhertz-transmission-theory-based":[71],"model":[72],"enhance":[74],"driving-force-to-weight":[76],"ratio.":[77],"Then,":[78],"prototype":[80],"60":[81,83,85],"\u00d7":[82,84],"mm<sup":[86],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[87],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[88],"size":[90],"40.2":[92],"g":[93,130],"weight":[95,127],"fabricated,":[97],"its":[99,135],"climbing/towing/positioning":[100],"performance":[101],"assessed.":[103],"At":[104],"37.22":[105],"kHz":[106],"working":[107],"frequency":[108],"30":[110],"V":[111],"voltage,":[112],"produced":[115],"maximal":[117,125],"climbing-up":[118],"speed":[119],"183.2":[121],"mm/s":[122],"towing":[126],"225":[129],"(equal":[131],"5.6":[133],"times":[134],"self-weight).":[136],"It":[137],"could":[138],"tubes":[142],"circular/rectangular":[144],"shapes,":[145],"whose":[146],"diameters/lengths":[147],"were":[148],"range":[151],"12\u201328":[153],"mm.":[154],"In":[155],"stepping":[156],"operation,":[157],"yielded":[159],"minimal":[161],"step":[162],"displacement":[163],"0.32":[165],"\u03bcm.":[166],"validates":[169],"MPCPR\u2019s":[171],"high":[172],"climbing/towing":[173],"capability":[174],"offers":[176],"an":[177],"approach":[178],"design":[180],"powerful":[181],"robots":[183],"function":[186],"vertically":[188],"climbing":[189],"tubes.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
