{"id":"https://openalex.org/W2291097167","doi":"https://doi.org/10.1109/robio.2015.7419085","title":"Development of an Inchworm Boring Robot(IBR) for planetary subsurface exploration","display_name":"Development of an Inchworm Boring Robot(IBR) for planetary subsurface exploration","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291097167","doi":"https://doi.org/10.1109/robio.2015.7419085","mag":"2291097167"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419085","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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":null,"display_name":"Tang Dewei","orcid":null},"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":true,"raw_author_name":"Tang Dewei","raw_affiliation_strings":["Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang Weiwei","orcid":null},"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":"Zhang Weiwei","raw_affiliation_strings":["Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiang Shengyuan","orcid":null},"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":"Jiang Shengyuan","raw_affiliation_strings":["Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009129294","display_name":"Yi Shen","orcid":"https://orcid.org/0000-0002-3198-1927"},"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":"Shen Yi","raw_affiliation_strings":["Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071003080","display_name":"Huazhi Chen","orcid":"https://orcid.org/0000-0002-0047-0243"},"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":"Chen Huazhi","raw_affiliation_strings":["Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Research Center of Aerospace Mechanism and Control, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.6497,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.77751846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2109","last_page":"2114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"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/T10325","display_name":"Astro and Planetary Science","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9925000071525574,"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/regolith","display_name":"Regolith","score":0.8211190700531006},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6767210960388184},{"id":"https://openalex.org/keywords/drill","display_name":"Drill","score":0.5036062598228455},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"Planetary exploration","score":0.47982144355773926},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4426718056201935},{"id":"https://openalex.org/keywords/drilling","display_name":"Drilling","score":0.4417661428451538},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4313790202140808},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4171903431415558},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35773271322250366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34338411688804626},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28632164001464844},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.12903422117233276},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.12455394864082336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10749697685241699}],"concepts":[{"id":"https://openalex.org/C41642174","wikidata":"https://www.wikidata.org/wiki/Q106551","display_name":"Regolith","level":2,"score":0.8211190700531006},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6767210960388184},{"id":"https://openalex.org/C173736775","wikidata":"https://www.wikidata.org/wiki/Q58964","display_name":"Drill","level":2,"score":0.5036062598228455},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.47982144355773926},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4426718056201935},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.4417661428451538},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4313790202140808},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4171903431415558},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35773271322250366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34338411688804626},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28632164001464844},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.12903422117233276},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.12455394864082336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10749697685241699},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7419085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419085","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6899999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1563434660","https://openalex.org/W1612274788","https://openalex.org/W1614867469","https://openalex.org/W1972343747","https://openalex.org/W1983012906","https://openalex.org/W1988294884","https://openalex.org/W1991346640","https://openalex.org/W2034760480","https://openalex.org/W2090543939","https://openalex.org/W2091068905","https://openalex.org/W2138060680","https://openalex.org/W2155445933","https://openalex.org/W2330094563","https://openalex.org/W2380792790","https://openalex.org/W2473948674","https://openalex.org/W6633768339","https://openalex.org/W6636525181","https://openalex.org/W6636660284"],"related_works":["https://openalex.org/W2366259689","https://openalex.org/W2747852726","https://openalex.org/W3160236466","https://openalex.org/W3002748439","https://openalex.org/W2028725533","https://openalex.org/W2914305898","https://openalex.org/W2383434491","https://openalex.org/W2945734014","https://openalex.org/W4236170482","https://openalex.org/W2070073127"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,34,37,41,124],"novel":[4,125],"Inchworm":[5],"Boring":[6],"Robot(IBR)":[7],"for":[8,106,132,162],"implementing":[9],"investigations":[10],"of":[11,22,31,81,109,114],"scientific":[12],"targets":[13],"such":[14],"as":[15],"geothermal":[16],"gradient,":[17],"chemical":[18],"composition,":[19],"mechanical":[20],"properties":[21],"regolith":[23,152],"in":[24,150],"the":[25,56,78,88,112,120,137,151,170],"planetary":[26,171],"subsurface.":[27],"The":[28],"IBR":[29,71,115,133,144,163],"consists":[30],"three":[32,83],"modules:":[33],"drilling":[35,65],"module,":[36],"discharging":[38,47,68],"module":[39,45,48,59,66],"and":[40,46,54,67,93,98,123,154,167],"propulsion":[42],"module.":[43,69],"Drilling":[44],"were":[49,95,134],"respectively":[50],"used":[51],"to":[52,77,100,147,164],"break":[53],"transport":[55],"regolith.":[57],"Propulsion":[58],"can":[60,72],"make":[61,165],"linear":[62],"motion":[63,80],"between":[64],"Therefore,":[70],"achieve":[73],"inchworm":[74],"movement":[75],"according":[76],"timing":[79],"above":[82],"modules.":[84],"In":[85,140],"this":[86],"paper,":[87],"two":[89],"key":[90],"tools,":[91],"drill":[92],"auger,":[94],"elaborately":[96],"designed":[97],"tested":[99],"figure":[101],"out":[102,169],"its":[103],"load":[104],"characteristics":[105],"future":[107],"prototype":[108,113],"IBR.":[110],"Next,":[111],"was":[116],"developed":[117],"based":[118],"on":[119,136],"tools":[121],"design":[122],"proposed":[126],"transmission":[127],"scheme.":[128],"Finally,":[129],"boring":[130,142],"experiments":[131],"conducted":[135],"test":[138],"platform.":[139],"these":[141,155],"experiments,":[143],"successfully":[145],"access":[146],"510mm":[148],"depth":[149],"simulant":[153],"results":[156],"show":[157],"that":[158],"it":[159],"is":[160],"feasible":[161],"borehole":[166],"carry":[168],"subsurface":[172],"exploration.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
