{"id":"https://openalex.org/W2146772007","doi":"https://doi.org/10.1177/0278364908095334","title":"Mini-Whegs TM Climbs Steep Surfaces Using Insect-inspired Attachment Mechanisms","display_name":"Mini-Whegs TM Climbs Steep Surfaces Using Insect-inspired Attachment Mechanisms","publication_year":2009,"publication_date":"2009-01-22","ids":{"openalex":"https://openalex.org/W2146772007","doi":"https://doi.org/10.1177/0278364908095334","mag":"2146772007"},"language":"en","primary_location":{"id":"doi:10.1177/0278364908095334","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908095334","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5072756702","display_name":"Kathryn A. Daltorio","orcid":"https://orcid.org/0000-0001-6994-1536"},"institutions":[{"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":"Kathryn A. Daltorio","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112426227","display_name":"Terence E. Wei","orcid":null},"institutions":[{"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":"Terence E. Wei","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077610761","display_name":"Andrew D. Horchler","orcid":"https://orcid.org/0000-0002-0449-1674"},"institutions":[{"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":"Andrew D. Horchler","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022500614","display_name":"Lori Southard","orcid":null},"institutions":[{"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":"Lori Southard","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075461253","display_name":"Gregory D. Wile","orcid":null},"institutions":[{"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":"Gregory D. Wile","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065352683","display_name":"Roger D. Quinn","orcid":"https://orcid.org/0000-0002-8504-7160"},"institutions":[{"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":"Roger D. Quinn","raw_affiliation_strings":["Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062162459","display_name":"Stanislav N. Gorb","orcid":"https://orcid.org/0000-0001-9712-7953"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Stanislav N. Gorb","raw_affiliation_strings":["Evolutionary Biomaterials Group, Max-Planck-Institute for Metals Research, 70569 Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Evolutionary Biomaterials Group, Max-Planck-Institute for Metals Research, 70569 Stuttgart, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110272155","display_name":"Roy E. Ritzmann","orcid":null},"institutions":[{"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":true,"raw_author_name":"Roy E. Ritzmann","raw_affiliation_strings":["Department of Biology, Case Western Reserve University, Cleveland, OH, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biology, Case Western Reserve University, Cleveland, OH, USA,","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5062162459","https://openalex.org/A5110272155"],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":15.2432,"has_fulltext":false,"cited_by_count":109,"citation_normalized_percentile":{"value":0.99416633,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"28","issue":"2","first_page":"285","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9782999753952026,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9643999934196472,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.7720370888710022},{"id":"https://openalex.org/keywords/adhesive","display_name":"Adhesive","score":0.7493747472763062},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6688191890716553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5557382702827454},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5401232838630676},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.3693086504936218},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.35658755898475647},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3029085397720337},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30176055431365967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29099011421203613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15453344583511353},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09465038776397705}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.7720370888710022},{"id":"https://openalex.org/C68928338","wikidata":"https://www.wikidata.org/wiki/Q131790","display_name":"Adhesive","level":3,"score":0.7493747472763062},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6688191890716553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5557382702827454},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5401232838630676},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.3693086504936218},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.35658755898475647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3029085397720337},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30176055431365967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29099011421203613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15453344583511353},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09465038776397705},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364908095334","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908095334","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:edoc.mpg.de:414443","is_oa":false,"landing_page_url":"http://edoc.mpg.de/414443","pdf_url":null,"source":{"id":"https://openalex.org/S4406922265","display_name":"Max Planck Institute for Plasma Physics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, v.28, 285-302 (2009)","raw_type":"Article"},{"id":"pmh:oai:pure.mpg.de:item_1575366","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0010-3D89-E","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5099999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"},{"id":"https://openalex.org/F4320332165","display_name":"National Geospatial-Intelligence Agency","ror":"https://ror.org/02k4pxv54"},{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W105522390","https://openalex.org/W332949971","https://openalex.org/W1494285813","https://openalex.org/W1573240230","https://openalex.org/W1600984530","https://openalex.org/W1670765730","https://openalex.org/W1676421722","https://openalex.org/W1822001265","https://openalex.org/W1976833279","https://openalex.org/W1981983487","https://openalex.org/W1993770485","https://openalex.org/W2001970805","https://openalex.org/W2028527000","https://openalex.org/W2036143445","https://openalex.org/W2045196859","https://openalex.org/W2049377006","https://openalex.org/W2052368712","https://openalex.org/W2060925679","https://openalex.org/W2062966171","https://openalex.org/W2076086457","https://openalex.org/W2081474333","https://openalex.org/W2087502910","https://openalex.org/W2096356744","https://openalex.org/W2098221031","https://openalex.org/W2099074437","https://openalex.org/W2100361537","https://openalex.org/W2100467067","https://openalex.org/W2110339875","https://openalex.org/W2110972814","https://openalex.org/W2111451187","https://openalex.org/W2121185710","https://openalex.org/W2124064924","https://openalex.org/W2131945542","https://openalex.org/W2134854819","https://openalex.org/W2135372088","https://openalex.org/W2136594730","https://openalex.org/W2137434240","https://openalex.org/W2140854630","https://openalex.org/W2145416042","https://openalex.org/W2146760274","https://openalex.org/W2157678875","https://openalex.org/W2157866304","https://openalex.org/W2157936767","https://openalex.org/W2167322920","https://openalex.org/W2515808474","https://openalex.org/W2582998992","https://openalex.org/W2623660146","https://openalex.org/W6637243222"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2614603712","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244"],"abstract_inverted_index":{"When":[0],"climbing":[1],"vertical":[2,109],"or":[3,35],"inclined":[4],"surfaces,":[5],"insects":[6],"utilize":[7],"claws,":[8],"tibial":[9],"spines,":[10,85],"and":[11,46,86,97,119,127],"tarsal":[12],"pads":[13],"to":[14,22],"create":[15],"attachment":[16,52],"forces.":[17],"These":[18],"devices":[19],"allow":[20],"them":[21],"climb":[23],"on":[24,101],"a":[25,60,70,129],"variety":[26],"of":[27,48,62,84,93],"substrates,":[28],"including":[29],"those":[30],"that":[31,64],"are":[32,59],"smooth,":[33],"soft,":[34],"porous.":[36],"Recent":[37],"advances":[38],"in":[39],"materials":[40,99,134],"may":[41],"make":[42],"long-lasting":[43],"dry":[44,137],"adhesives":[45,96],"arrays":[47],"sharp":[49,125],"hooks":[50],"feasible":[51],"mechanisms":[53],"for":[54,73,131],"small":[55],"robots.":[56],"Mini-Whegs":[57],"TM":[58],"series":[61],"robots":[63],"use":[65],"rotating":[66,103],"wheel-legs":[67,79],"driven":[68],"by":[69],"single":[71],"motor":[72],"locomotion.":[74],"By":[75],"testing":[76],"specially":[77],"designed":[78],"with":[80,112,116,124],"office":[81],"tape,":[82,118],"pairs":[83],"Velcro\u00ae,":[87,113],"this":[88],"work":[89],"demonstrates":[90],"the":[91],"feasibility":[92],"applying":[94],"novel":[95],"frictional":[98],"passively":[100],"simple":[102],"legs.":[104],"The":[105],"resulting":[106],"robot":[107],"climbs":[108,120],"fabric":[110],"surfaces":[111],"crosses":[114],"ceilings":[115],"Scotch\u00ae":[117],"steep":[121],"concrete":[122],"inclines":[123],"spines":[126],"provides":[128],"test-platform":[130],"future":[132],"adhesive":[133,138],"such":[135],"as":[136],"tape.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}