{"id":"https://openalex.org/W4385569746","doi":"https://doi.org/10.1109/tro.2023.3294920","title":"A Soft, Lightweight Flipping Robot With Versatile Motion Capabilities for Wall-Climbing Applications","display_name":"A Soft, Lightweight Flipping Robot With Versatile Motion Capabilities for Wall-Climbing Applications","publication_year":2023,"publication_date":"2023-08-04","ids":{"openalex":"https://openalex.org/W4385569746","doi":"https://doi.org/10.1109/tro.2023.3294920"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3294920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3294920","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5029480176","display_name":"Rui Chen","orcid":"https://orcid.org/0000-0002-1641-8562"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Chen","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-1641-8562","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101736858","display_name":"Xinrui Tao","orcid":"https://orcid.org/0000-0001-7336-0486"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinrui Tao","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-7336-0486","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032699206","display_name":"Changyong Cao","orcid":"https://orcid.org/0000-0001-5067-1716"},"institutions":[{"id":"https://openalex.org/I4210110978","display_name":"Louis Stokes Cleveland VA Medical Center","ror":"https://ror.org/01vrybr67","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1322918889","https://openalex.org/I2799886695","https://openalex.org/I4210110978","https://openalex.org/I4210127612"]},{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changyong Cao","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","Advanced Platform Technology Center, Louis Stokes Cleveland VA Medical Center, Cleveland, OH, USA","Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":"https://orcid.org/0000-0001-5067-1716","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Advanced Platform Technology Center, Louis Stokes Cleveland VA Medical Center, Cleveland, OH, USA","institution_ids":["https://openalex.org/I4210110978"]},{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045294158","display_name":"Pei Jiang","orcid":"https://orcid.org/0000-0003-3471-4151"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei Jiang","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0003-3471-4151","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100391203","display_name":"Jun Luo","orcid":"https://orcid.org/0000-0003-1121-4816"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Luo","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077878309","display_name":"Yu Sun","orcid":"https://orcid.org/0000-0001-7895-0741"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yu Sun","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7895-0741","affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.891,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.91907567,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"39","issue":"5","first_page":"3960","last_page":"3976"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9828000068664551,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9581999778747559,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8050054311752319},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7222400903701782},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6481428146362305},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.625470757484436},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4746311902999878},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4718106985092163},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43575215339660645},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4317173361778259},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4251306354999542},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.42186975479125977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3867887854576111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3840161859989166},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3691933751106262},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.32246828079223633},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16826099157333374}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8050054311752319},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7222400903701782},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6481428146362305},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.625470757484436},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4746311902999878},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4718106985092163},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43575215339660645},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4317173361778259},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4251306354999542},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.42186975479125977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3867887854576111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3840161859989166},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3691933751106262},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.32246828079223633},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16826099157333374}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3294920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3294920","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1316073589","display_name":null,"funder_award_id":"2021CDJQY-015","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6476314253","display_name":null,"funder_award_id":"52075051","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W2025613329","https://openalex.org/W2146772007","https://openalex.org/W2171149429","https://openalex.org/W2206014908","https://openalex.org/W2274905722","https://openalex.org/W2394925491","https://openalex.org/W2461072824","https://openalex.org/W2576246534","https://openalex.org/W2752165401","https://openalex.org/W2769501833","https://openalex.org/W2771720567","https://openalex.org/W2782435507","https://openalex.org/W2798610722","https://openalex.org/W2873850312","https://openalex.org/W2896990192","https://openalex.org/W2904580343","https://openalex.org/W2905335417","https://openalex.org/W2919862852","https://openalex.org/W2921339107","https://openalex.org/W2946329969","https://openalex.org/W2980980233","https://openalex.org/W2993205652","https://openalex.org/W2999325808","https://openalex.org/W3003845873","https://openalex.org/W3036913633","https://openalex.org/W3089537413","https://openalex.org/W3126083260","https://openalex.org/W3176894072","https://openalex.org/W3177722432","https://openalex.org/W3195149692","https://openalex.org/W3203935747","https://openalex.org/W3209341576","https://openalex.org/W4214644029","https://openalex.org/W4220999742","https://openalex.org/W4226537894","https://openalex.org/W4244367163","https://openalex.org/W4281682446","https://openalex.org/W4286239308","https://openalex.org/W4310102421"],"related_works":["https://openalex.org/W4312400952","https://openalex.org/W2085374841","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2329529557","https://openalex.org/W2001900524","https://openalex.org/W2168918646","https://openalex.org/W2917916498"],"abstract_inverted_index":{"Soft":[0],"wall-climbing":[1,25,54,177],"robots":[2,26,178],"have":[3],"been":[4],"limited":[5],"in":[6,13,33,88,183],"their":[7,18,181],"ability":[8],"to":[9,17,39,80,93,156,171],"perform":[10,157],"complex":[11,34],"locomotion":[12],"diverse":[14],"environments":[15,36],"due":[16],"structure":[19,167],"and":[20,60,72,91,98,130,133,159,168,179],"weight.":[21],"Thus":[22],"far,":[23],"soft":[24,53,65,146,176],"with":[27,56,138],"integrated":[28,57],"functions":[29],"that":[30,112],"can":[31,115,148],"locomote":[32],"3-D":[35],"are":[37,101],"yet":[38],"be":[40],"developed.":[41],"This":[42,162],"article":[43,163],"addresses":[44],"this":[45],"challenge":[46],"by":[47],"presenting":[48],"a":[49,105,150,165],"lightweight":[50],"(2.57":[51],"g)":[52],"robot":[55,66,114,147],"linear,":[58],"turning,":[59],"transitioning":[61],"motion":[62,97],"capabilities.":[63],"The":[64,108],"employs":[67],"three":[68],"pneumatic":[69],"bending":[70],"actuators":[71],"two":[73,85,89],"adaptive":[74],"electroadhesion":[75],"pads,":[76],"which":[77],"enable":[78,180],"it":[79],"flip":[81],"forward,":[82],"transition":[83],"between":[84,136],"walls,":[86],"turn":[87],"directions,":[90],"adhere":[92],"various":[94],"surfaces.":[95],"Different":[96],"control":[99,169],"strategies":[100],"proposed":[102],"based":[103],"on":[104,127,153],"theoretical":[106],"model.":[107],"experimental":[109],"results":[110],"demonstrate":[111],"the":[113,145,173],"move":[116],"at":[117],"an":[118],"average":[119],"speed":[120],"of":[121,175],"3.85":[122],"mm/s":[123],"(0.08":[124],"body":[125],"length/s)":[126],"horizontal,":[128],"vertical,":[129],"inverted":[131],"walls":[132,137,155],"make":[134],"transitions":[135],"different":[139],"pinch":[140],"angles":[141],"within":[142],"180\u00b0.":[143],"Additionally,":[144],"carry":[149],"miniature":[151],"camera":[152],"vertical":[154],"detection":[158],"surveillance":[160],"tasks.":[161],"provides":[164],"reliable":[166],"strategy":[170],"enhance":[172],"multifunctionality":[174],"applications":[182],"unstructured":[184],"environments.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
