{"id":"https://openalex.org/W1976940353","doi":"https://doi.org/10.1163/156855309x442990","title":"Design and Realization of a Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers","display_name":"Design and Realization of a Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W1976940353","doi":"https://doi.org/10.1163/156855309x442990","mag":"1976940353"},"language":"en","primary_location":{"id":"doi:10.1163/156855309x442990","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855309x442990","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5042518197","display_name":"Houxiang Zhang","orcid":"https://orcid.org/0000-0003-0122-0964"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Houxiang Zhang","raw_affiliation_strings":["a    TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705911","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-2418-6490"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["b    TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany; Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 37 Xueyuan  Road, 100083 Beijing, PRC","TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany; Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, 100083 Beijing, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany; Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 37 Xueyuan  Road, 100083 Beijing, PRC","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany; Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, 100083 Beijing, PRC","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070125365","display_name":"Juan Gonz\u00e1lez-G\u00f3mez","orcid":null},"institutions":[{"id":"https://openalex.org/I63634437","display_name":"Universidad Aut\u00f3noma de Madrid","ror":"https://ror.org/01cby8j38","country_code":"ES","type":"education","lineage":["https://openalex.org/I63634437"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Gonz\u00e1lez-G\u00f3mez","raw_affiliation_strings":["c    Control and Telematics Systems Lab, School of Engineering, Universidad Autonoma de Madrid, Ctra. de Colmenar Km. 15, 28049 Madrid, Spain","Control and Telematics Systems Lab, School of Engineering, Universidad Autonoma de Madrid, Ctra. de Colmenar Km. 15, 28049 Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    Control and Telematics Systems Lab, School of Engineering, Universidad Autonoma de Madrid, Ctra. de Colmenar Km. 15, 28049 Madrid, Spain","institution_ids":["https://openalex.org/I63634437"]},{"raw_affiliation_string":"Control and Telematics Systems Lab, School of Engineering, Universidad Autonoma de Madrid, Ctra. de Colmenar Km. 15, 28049 Madrid, Spain","institution_ids":["https://openalex.org/I63634437"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["d    TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"d    TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"TAMS Group, Department of Computer Science, University of Hamburg, Vogt-Koelln-Strasse 30, 22527 Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6889,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.71404135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"23","issue":"7-8","first_page":"889","last_page":"906"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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":0.9990000128746033,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9314000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7619869112968445},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7608480453491211},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7014025449752808},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6143417954444885},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.6114415526390076},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5492836236953735},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5252751111984253},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4955247640609741},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4422690272331238},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43533551692962646},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.42647695541381836},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42303597927093506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3845469057559967},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2743794918060303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2523576319217682},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.18023598194122314},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15848088264465332},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06536346673965454}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7619869112968445},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7608480453491211},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7014025449752808},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6143417954444885},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.6114415526390076},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5492836236953735},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5252751111984253},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4955247640609741},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4422690272331238},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43533551692962646},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.42647695541381836},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42303597927093506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3845469057559967},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2743794918060303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2523576319217682},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.18023598194122314},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15848088264465332},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06536346673965454},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855309x442990","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855309x442990","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1544917616","https://openalex.org/W2012223795","https://openalex.org/W2012847731","https://openalex.org/W2129678820","https://openalex.org/W2157723668","https://openalex.org/W2484121308","https://openalex.org/W2513719848"],"related_works":["https://openalex.org/W2111719038","https://openalex.org/W2044142799","https://openalex.org/W2131503299","https://openalex.org/W2723444427","https://openalex.org/W2051884162","https://openalex.org/W1999053336","https://openalex.org/W1497246582","https://openalex.org/W2144661143","https://openalex.org/W2607004978","https://openalex.org/W2157945163"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,42,47,51,61,179],"novel":[4,48],"inspired":[5,147],"modular":[6,43,156],"climbing":[7,21,39],"caterpillar.":[8],"First,":[9],"related":[10],"issues":[11],"such":[12],"as":[13,50,162],"the":[14,28,31,87,90,97,107,111,123,127,168,175],"attachment":[15,65],"principles":[16],"and":[17,67,92,95,138,140,160,174,183],"locomotion":[18,69,130],"kinematics":[19],"of":[20,30,34,74,84,170],"robots":[22],"are":[23,80,143],"summarized":[24],"systematically.":[25],"Based":[26],"on":[27,126],"investigation":[29],"movement":[32],"mechanism":[33],"natural":[35],"caterpillars,":[36],"we":[37],"combine":[38],"techniques":[40],"with":[41,110],"approach":[44],"to":[45,113,150,166],"realize":[46],"prototype":[49,165],"flexible":[52],"wall-climbing":[53],"robotic":[54],"platform":[55],"featuring":[56],"an":[57,146,163],"easy-to-build":[58,155],"mechanical":[59],"structure,":[60],"low-frequency":[62],"vibrating":[63],"passive":[64],"principle":[66,173],"various":[68,129],"capabilities.":[70,131,177],"The":[71],"robot":[72],"consists":[73],"cross-connected":[75],"modules":[76,85,109],"for":[77],"moving.":[78],"There":[79],"only":[81],"two":[82,117],"kinds":[83],"in":[86,116],"system:":[88],"(i)":[89],"head":[91],"tail":[93],"module,":[94],"(ii)":[96],"body":[98],"module.":[99],"Active":[100],"joints":[101],"actuated":[102],"by":[103,145],"RC":[104],"servos":[105],"endow":[106],"connecting":[108],"ability":[112],"change":[114],"shapes":[115],"dimensions.":[118],"After":[119],"explaining":[120],"these":[121],"principles,":[122],"discussion":[124],"focuses":[125],"robot's":[128,176],"Linear":[132],"movements,":[133,135,137],"turning":[134],"lateral":[136],"rotating":[139],"rolling":[141],"movements":[142],"achieved":[144],"control":[148],"model":[149],"produce":[151],"rhythmic":[152],"motion.":[153],"An":[154],"caterpillar":[157],"is":[158,181,186],"designed":[159],"manufactured":[161],"experimental":[164],"confirm":[167],"feasibility":[169],"our":[171],"design":[172],"Finally,":[178],"conclusion":[180],"given":[182],"future":[184],"work":[185],"outlined.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}