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Then some compliant modules are designed and realized to build the caterpillar climbing robot. A climbing gait is designed to avoid collisions between the spines and the wall, and allows the robot to climb on a stucco-like wall with a 72\u25cb incline. The real tests reveal that the deformation of the compliant toes reduces the sliding forces between the spines and the wall, and improve the climbing action obviously.<\/jats:p>","DOI":"10.1017\/s0263574714002446","type":"journal-article","created":{"date-parts":[[2014,10,15]],"date-time":"2014-10-15T11:29:13Z","timestamp":1413372553000},"page":"1553-1565","source":"Crossref","is-referenced-by-count":16,"title":["A caterpillar climbing robot with spine claws and compliant structural modules"],"prefix":"10.1017","volume":"34","author":[{"given":"Wei","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shilin","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,10,15]]},"reference":[{"key":"S0263574714002446_ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072511"},{"key":"S0263574714002446_ref19","doi-asserted-by":"crossref","unstructured":"W. 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