{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T19:41:05Z","timestamp":1773344465987,"version":"3.50.1"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2017,4,12]],"date-time":"2017-04-12T00:00:00Z","timestamp":1491955200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51005046"],"award-info":[{"award-number":["51005046"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20151505"],"award-info":[{"award-number":["BK20151505"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,3]]},"DOI":"10.1007\/s10846-017-0552-3","type":"journal-article","created":{"date-parts":[[2017,4,12]],"date-time":"2017-04-12T06:17:27Z","timestamp":1491977847000},"page":"301-317","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["Design and Realization of the Claw Gripper System of a Climbing Robot"],"prefix":"10.1007","volume":"89","author":[{"given":"Fengyu","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bei","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingjin","family":"Shen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"JinLong","family":"Hu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guoping","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,4,12]]},"reference":[{"key":"552_CR1","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1016\/j.probengmech.2005.10.006","volume":"21","author":"SM Elachachi","year":"2006","unstructured":"Elachachi, S.M., Breysse, D., Yotte, S., Cremona, C.: A Probabilistic multi-scale time dependent model for corroded structural suspension cables. Probab. Eng. Mech. 21, 235\u2013245 (2006)","journal-title":"Probab. Eng. Mech."},{"key":"552_CR2","doi-asserted-by":"crossref","first-page":"364","DOI":"10.1061\/(ASCE)BE.1943-5592.0000061","volume":"15","author":"AB Mehrabi","year":"2010","unstructured":"Mehrabi, A.B., Asce, M., Ligozio, C.A., Ciolko, A.T., Wyatt, S.T.: Evaluation, rehabilitation planning, and stay-cable replacement design for the hale Boggs bridge in Luling, Louisiana. J. Bridg. Eng. 15, 364\u2013372 (2010)","journal-title":"J. Bridg. Eng."},{"key":"552_CR3","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1002\/rob.20238","volume":"25","author":"MJ Spenko","year":"2008","unstructured":"Spenko, M.J., Haynes, G.C., Saunders, JA.: Biologically Inspired Climbing with a Hexapedal Robot. J. Field Rob. 25, 223\u2013242 (2008)","journal-title":"J. Field Rob."},{"key":"552_CR4","doi-asserted-by":"crossref","unstructured":"Haynes, G.C., Khripin, A., Lynch, G., Amory, J., Saunders, A., Koditschek, D.E.: Rapid Pole Climbing with a Quadrupedal Robot In: IEEE International Conference on Robotics and Automation(ICRA2009), pp 2767\u20132772. Kobe, Japan (Rizzi, AA)","DOI":"10.1109\/ROBOT.2009.5152830"},{"issue":"1","key":"552_CR5","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1177\/0278364908095334","volume":"28","author":"KA Daltorio","year":"2009","unstructured":"Daltorio, K.A., Wei, T.E., Horchler, A.D., et al.: Mini-whegs TM climbs steep surfaces using insect-inspired attachment mechanisms [J]. Int. J. Robot. Res. 28(1), 285\u2013302 (2009)","journal-title":"Int. J. Robot. Res."},{"key":"552_CR6","doi-asserted-by":"crossref","first-page":"974","DOI":"10.1177\/0278364912442096","volume":"31","author":"GA Lynch","year":"2012","unstructured":"Lynch, G.A., Clark, J.E., Lin, P.C., Koditschek, D.E.: A bioinspired dynamical vertical climbing robot [J]. Int. J. Robot. Res. 31, 974\u2013996 (2012)","journal-title":"Int. J. Robot. Res."},{"key":"552_CR7","doi-asserted-by":"crossref","first-page":"506","DOI":"10.1002\/rob.21418","volume":"29","author":"S Bartsch","year":"2012","unstructured":"Bartsch, S., Birnschein, T., Rommermann, M., Hilljegerdes, J., Kuhn, D.: Development of the Six-Legged Walking and Climbing Robot SpaceClimber. J. Field Rob. 29, 506\u2013532 (2012)","journal-title":"J. Field Rob."},{"key":"552_CR8","doi-asserted-by":"crossref","first-page":"1008","DOI":"10.1016\/j.robot.2011.06.003","volume":"59","author":"A Sintov","year":"2011","unstructured":"Sintov, A., Avramovich, T., Shapiro, A.: Design and motion planning of an autonomous climbing robot with claws. Robot. Auton. Syst. 59, 1008\u20131019 (2011)","journal-title":"Robot. Auton. Syst."},{"key":"552_CR9","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1002\/rob.21431","volume":"30","author":"TL Lam","year":"2013","unstructured":"Lam, T.L., Xu, YS.: Motion planning for tree climbing with inchworm-like robots. J. Field Rob. 30, 87\u2013101 (2013)","journal-title":"J. Field Rob."},{"key":"552_CR10","doi-asserted-by":"crossref","first-page":"843","DOI":"10.1002\/rob.21414","volume":"29","author":"TL Lam","year":"2012","unstructured":"Lam, T.L., Xu, YS.: Biologically inspired tree-climbing robot with continuum maneuvering mechanism. J. Field Rob. 29, 843\u2013860 (2012)","journal-title":"J. Field Rob."},{"key":"552_CR11","doi-asserted-by":"crossref","first-page":"1165","DOI":"10.1177\/0278364906072511","volume":"25","author":"AT Asbeck","year":"2006","unstructured":"Asbeck, A.T., Kim, S., Cutkosky, M.R., Provancher, W.R., Lanzetta, M.: Scaling hard vertical surfaces with compliant microspine array. Int. J. Robot. Res. 25, 1165\u20131179 (2006)","journal-title":"Int. J. Robot. Res."},{"key":"552_CR12","doi-asserted-by":"crossref","first-page":"518","DOI":"10.1109\/TMECH.2012.2209672","volume":"18","author":"EW Hawkes","year":"2013","unstructured":"Hawkes, E.W., Eason, E.V., Asbeck, A.T., Cutkosky, M.R.: The Gecko\u2019s Toe: Scaling Directional Adhesives for Climbing Applications. IEEE\/ASME Trans. Mechatron. 18, 518\u2013526 (2013)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"7","key":"552_CR13","first-page":"941","volume":"27","author":"XS Gao","year":"2009","unstructured":"Gao, X.S., Xu, D.G., Wang, Y.: Multifunctional robot to maintain boiler water-cooling tubes [J]. Robotica 27(7), 941\u2013948 (2009)","journal-title":"Robotica"},{"issue":"10","key":"552_CR14","doi-asserted-by":"crossref","first-page":"997","DOI":"10.1016\/j.robot.2013.05.005","volume":"61","author":"M Tavakoli","year":"2013","unstructured":"Tavakoli, M., Viegas, C., Marques, L.: OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures [J]. Robot. Auton. Syst. 61(10), 997\u20131007 (2013)","journal-title":"Robot. Auton. Syst."},{"issue":"7","key":"552_CR15","doi-asserted-by":"crossref","first-page":"733","DOI":"10.3901\/CJME.2010.06.733","volume":"23","author":"J Li","year":"2010","unstructured":"Li, J., Gao, X., Fan, N., Li, K., Jiang, Z.: Adsorption performance of sliding wall climbing robot [J]. Chinese J. Mech. Eng. 23(7), 733\u2013741 (2010)","journal-title":"Chinese J. Mech. Eng."},{"issue":"7","key":"552_CR16","first-page":"551","volume":"36","author":"BS Hu","year":"2009","unstructured":"Hu, B.S., Zhao, Y.Z., Fu, Z.: A miniature wall climbing robot with biomechanical suction cups [J]. Industrial Robot: An Inter. J. 36(7), 551\u2013561 (2009)","journal-title":"Industrial Robot: An Inter. J."},{"issue":"1","key":"552_CR17","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1007\/s10846-013-9820-z","volume":"72","author":"IM Koo","year":"2013","unstructured":"Koo, I.M., Trong, T.D., Lee, Y.H., Moon, H., Koo, J., Park, S.K., Choi, HR.: Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism [J]. J. Intell. Robot. Syst. 72(1), 57\u201372 (2013)","journal-title":"J. Intell. Robot. Syst."},{"key":"552_CR18","first-page":"1","volume":"26","author":"XW Guan","year":"2009","unstructured":"Guan, X.W., Zhang, H., Ji, A.H., Dai, ZD.: Development of claw-inspired foot structure for wall-climbing robot. Mech. Elect. Eng. Mag. 26, 1\u20134 (2009)","journal-title":"Mech. Elect. Eng. Mag."},{"key":"552_CR19","doi-asserted-by":"crossref","unstructured":"Liu, Y.W., Sun, S.M., Wu, X., Mei, T.: A Wheeled Wall-Climbing Robot with Bio-Inspired Spine Mechanisms J. Bionic Eng. 13 17\u201328 (2015)","DOI":"10.1016\/S1672-6529(14)60096-2"},{"key":"552_CR20","first-page":"209","volume":"33","author":"DL Chen","year":"2012","unstructured":"Chen, D.L., Zhang, Q., Wang, L.Q., Zu, YS.: Design and realization of a kind of rough wall climbing robot. J. Harbin Eng. Univ. 33, 209\u2013213 (2012)","journal-title":"J. Harbin Eng. Univ."},{"key":"552_CR21","doi-asserted-by":"crossref","first-page":"17","DOI":"10.3901\/JME.2010.15.017","volume":"46","author":"L Jiang","year":"2010","unstructured":"Jiang, L., Guan, Y.S., Cai, C.W.: Gait Analysis of a Novel Biomimetic Climbing Robot. J. Mech. Eng. 46, 17\u201322 (2010)","journal-title":"J. Mech. Eng."},{"key":"552_CR22","doi-asserted-by":"crossref","first-page":"1787","DOI":"10.1109\/TMECH.2012.2213303","volume":"18","author":"YS Guan","year":"2013","unstructured":"Guan, Y.S., Zhu, H.F., Wu, W.Q.: A Modular Biped Wall-Climbing Robot with High Mobility and Manipulating Function. IEEE\/ASME Trans. Mechatron. 18, 1787\u20131798 (2013)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"552_CR23","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1016\/S1672-6529(11)60048-6","volume":"8","author":"DC Chen","year":"2011","unstructured":"Chen, D.C., Yin, J.M., Zhao, K., Zheng, W.J., Wang, T.M.: Bionic Mechanism and Kinematics Analysis of Hopping Robot Inspired by Locust Jumping. J. Bionic Eng. 8, 429\u2013439 (2011)","journal-title":"J. Bionic Eng."},{"key":"552_CR24","doi-asserted-by":"crossref","first-page":"1761","DOI":"10.1177\/0278364910380759","volume":"29","author":"O Unver","year":"2010","unstructured":"Unver, O., Tankbot, S.M.: A Palm-size, Tank-like Climbing Robot using Soft Elastomer Adhesive Treads. Int. J. Robot. Res. 29, 1761\u20131777 (2010)","journal-title":"Int. J. Robot. Res."},{"key":"552_CR25","doi-asserted-by":"crossref","first-page":"118","DOI":"10.1177\/0278364910382862","volume":"30","author":"MP Murphy","year":"2011","unstructured":"Murphy, M.P., Kute, C., Menguc, Y., Sitti, M., Waalbot, I.I.: Adhesion Recovery and Improved Performance of a Climbing Robot using Fibrillar Adhesives. Int. J. Robot. Res. 30, 118\u2013133 (2011)","journal-title":"Int. J. Robot. Res."},{"key":"552_CR26","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1017\/S0263574711000373","volume":"30","author":"YS Li","year":"2012","unstructured":"Li, Y.S., Ahmed, A., Sameoto, D., Menon, C.: Abigaille II: toward the development of a spider-inspired climbing robot. Robotica 30, 79\u201389 (2012)","journal-title":"Robotica"},{"key":"552_CR27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S1672-6529(14)60015-9","volume":"11","author":"M Henrey","year":"2014","unstructured":"Henrey, M., Ahmed, A., Boscariol, P., Shannon, L., Menon, C.: Abigaille-III: A Versatile, Bioinspired Hexapod for Scaling Smooth Vertical Surfaces. J. Bionic Eng. 11, 1\u201317 (2014)","journal-title":"J. Bionic Eng."},{"key":"552_CR28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S1672-6529(13)60193-6","volume":"10","author":"P Boscariol","year":"2013","unstructured":"Boscariol, P., Henrey, M.A., Li, Y.S., Menon, C.: Optimal Gait for Bioinspired Climbing Robots Using Dry Adhesion: A Quasi-Static Investigation. J. Bionic Eng. 10, 1\u201311 (2013)","journal-title":"J. Bionic Eng."},{"issue":"7","key":"552_CR29","doi-asserted-by":"crossref","first-page":"897","DOI":"10.1002\/rob.21476","volume":"30","author":"A Parness","year":"2013","unstructured":"Parness, A., Frost, M., Thatte, N.: Gravity-independent Rock-climbing Robot and a Sample Acquisition Tool with Microspine Grippers [J]. J. Field Rob. 30(7), 897\u2013915 (2013)","journal-title":"J. Field Rob."},{"issue":"261","key":"552_CR30","first-page":"1","volume":"9","author":"FY Xu","year":"2012","unstructured":"Xu, F.Y., Wang, X.S., Jiang, G.P.: Design and Analysis of a Wall-Climbing Robot Based on a Mechanism Utilizing Hook-Like Claws [J]. Int. J. Adv. Robot. Syst. 9(261), 1\u201312 (2012)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"552_CR31","first-page":"408","volume-title":"IEEE International Conference on Robotics and Biomimetics, ROBIO","author":"FY Xu","year":"2013","unstructured":"Xu, F.Y., Wang, X.S., Jiang, G.P.: Initial Design and Analysis of a Rough Concrete Building-climbing Robot Based on Biomimetic Grip Claws [C] IEEE International Conference on Robotics and Biomimetics, ROBIO, pp 408\u2013413. Shengzhen, China (2013)"},{"key":"552_CR32","first-page":"18","volume-title":"In: 9th Int. Symp. on Experimental Robotics, Singapore","author":"T Bretl","year":"2004","unstructured":"Bretl, T., Rock, S.M., Latombe, J.C., Kennedy, B., Aghazarian, H.: Free-climbing with a multi-use Robot In: 9th Int. Symp. on Experimental Robotics, Singapore, pp 18\u201321 (2004)"},{"key":"552_CR33","doi-asserted-by":"crossref","first-page":"1","DOI":"10.5772\/52938","volume":"10","author":"R Liu","year":"2013","unstructured":"Liu, R., Chen, R., Shen, H.: Wall Climbing Robot Using Electrostatic Adhesion Force Generated by Flexible Interdigital Electrodes. Int. J. Adv. Robot. Syst. 10, 1\u20139 (2013)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"552_CR34","doi-asserted-by":"crossref","first-page":"897","DOI":"10.1109\/TMECH.2010.2053379","volume":"16","author":"WR Provancher","year":"2011","unstructured":"Provancher, W.R., Jensen, S.S., Fehlberg, M.A.: ROCR: An Energy-Efficient Dynamic Wall-Climbing Robot. IEEE\/ASME Trans. Mechatron. 16, 897\u2013906 (2011)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"552_CR35","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1002\/rob.20330","volume":"27","author":"H Schempf","year":"2010","unstructured":"Schempf, H., Mutschler, E., Gavaert, A., Skoptsov, G., Crowley, W.: Visual and Nondestructive Evaluation Inspection of Live Gas Mains Using the Explorer TM Family of Pipe Robots. J. Field Rob. 27, 217\u2013249 (2010)","journal-title":"J. Field Rob."},{"key":"552_CR36","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1016\/S1672-6529(13)60194-8","volume":"10","author":"P Amirpasha","year":"2013","unstructured":"Amirpasha, P., Parviz, S., Jue, L.: A New Self-Loading Locomotion Mechanism for Wall Climbing Robots Employing Biomimetic Adhesives. J. Bionic Eng. 10, 12\u201318 (2013)","journal-title":"J. Bionic Eng."},{"key":"552_CR37","doi-asserted-by":"crossref","first-page":"312","DOI":"10.1109\/TMECH.2012.2234473","volume":"19","author":"B He","year":"2014","unstructured":"He, B., Wang, Z.P., Li, M.H., Wang, K., Shen, R.J., Hu, SQ.: Wet Adhesion Inspired Bionic Climbing Robot. IEEE\/ASME Trans. Mechatron. 19, 312\u2013320 (2014)","journal-title":"IEEE\/ASME Trans. Mechatron."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0552-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0552-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0552-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,10,5]],"date-time":"2020-10-05T10:17:40Z","timestamp":1601893060000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0552-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,4,12]]},"references-count":37,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2018,3]]}},"alternative-id":["552"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0552-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,4,12]]}}}