{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T11:10:07Z","timestamp":1770981007649,"version":"3.50.1"},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2020,1,15]],"date-time":"2020-01-15T00:00:00Z","timestamp":1579046400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A novel wall-climbing robot with multiple attachment modes is proposed. For uneven surfaces, the mechanical model of a spine wheel is brought out to grab the surfaces with its multi-spines. For smooth surfaces, an adhesive belt is obtained by the industrial synchronous belt and the polyurethane material to adhere to the surfaces. To avoid the robot overturning, an adsorption device with flexible skirt edge is presented. In addition, the normal force and motor torque are evaluated respectively. Finally, the prototype of the wall-climbing robot is manufactured and tested, and the experimental results show that the robot could climb the wall surface 0\u2013360\u00b0 with a maximum load of 0.5 kg.<\/jats:p>","DOI":"10.1017\/s026357471900184x","type":"journal-article","created":{"date-parts":[[2020,1,15]],"date-time":"2020-01-15T09:52:03Z","timestamp":1579081923000},"page":"3-22","source":"Crossref","is-referenced-by-count":31,"title":["Development of a Bio-inspired Wall-Climbing Robot Composed of Spine Wheels, Adhesive Belts and Eddy Suction Cup"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0097-3529","authenticated-orcid":false,"given":"Jinfu","family":"Liu","sequence":"first","affiliation":[]},{"given":"Linsen","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Shouqi","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Hong","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Gaoxin","family":"Cheng","sequence":"additional","affiliation":[]},{"given":"Jiajun","family":"Xu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2020,1,15]]},"reference":[{"key":"S026357471900184X_ref16","first-page":"601","volume-title":"International Conference on Advanced Robotics","author":"Kim","year":"2005"},{"key":"S026357471900184X_ref26","unstructured":"26. Wang, W. , Wu, S. , Zhu, P. and Liu, R. , \u201cAnalysis on the Dynamic Climbing Forces of a Gecko Inspired Climbing Robot Based on GPL Model,\u201d 2015 IEEE\/RSJ International Conference on Intelligent Robots & Systems, Hamburg, Germany, (2015) pp. 3314\u20133319."},{"key":"S026357471900184X_ref17","unstructured":"17. Asbeck, A. T. , Kim, S. , McClung, A. , Parness, A. and Cutkosky, M. R. , \u201cClimbing Walls with Microspines,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA (IEEE, 2006) pp. 4315\u20134317."},{"key":"S026357471900184X_ref23","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21476"},{"key":"S026357471900184X_ref18","doi-asserted-by":"crossref","first-page":"1165","DOI":"10.1177\/0278364906072511","article-title":"Scaling hard vertical surfaces with compliant microspine arrays","volume":"25","author":"Kim","year":"2006","journal-title":"Int. J. Robot. Res."},{"key":"S026357471900184X_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2011.11.013"},{"key":"S026357471900184X_ref7","doi-asserted-by":"publisher","DOI":"10.1080\/00207720117230"},{"key":"S026357471900184X_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152303"},{"key":"S026357471900184X_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/0045-7906(95)00034-8"},{"key":"S026357471900184X_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.03.008"},{"key":"S026357471900184X_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(14)60096-2"},{"key":"S026357471900184X_ref21","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20238"},{"key":"S026357471900184X_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9820-z"},{"key":"S026357471900184X_ref19","first-page":"623017","volume-title":"The rise climbing robot: Body and leg design,","author":"Saunders","year":"2006"},{"key":"S026357471900184X_ref5","unstructured":"5. Luk, B. L. , Collie, A. A. and Billingsley, J. , \u201cRobug II: An Intelligent Wall Climbing robot,\u201d Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, California (IEEE, 1991) pp. 2342\u20132347."},{"key":"S026357471900184X_ref1","doi-asserted-by":"publisher","DOI":"10.1080\/00218464.2016.1209114"},{"key":"S026357471900184X_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s42235-018-0028-6"},{"key":"S026357471900184X_ref11","unstructured":"11. Menon, C. , Murphy, M. and Sitti, M. , \u201cGecko Inspired Surface Climbing Robots,\u201d IEEE International Conference on Robotics and Biomimetics, Shenyang, China, (IEEE, 2004) pp. 431\u2013436."},{"key":"S026357471900184X_ref20","first-page":"291","article-title":"Robotics in scansorial environments","volume":"5804","author":"Autumn","year":"2005","journal-title":"Int. Soc. Opt. Eng."},{"key":"S026357471900184X_ref3","doi-asserted-by":"publisher","DOI":"10.1021\/acsami.5b07287"},{"key":"S026357471900184X_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2182617"},{"key":"S026357471900184X_ref28","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-1910(03)00048-9"},{"key":"S026357471900184X_ref12","unstructured":"12. Menon, C. and Sitti, M. , \u201cBiologically Inspired Adhesion Based Surface Climbing Robots,\u201d Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain (IEEE, 2005) pp. 2715\u20132720."},{"key":"S026357471900184X_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2016.03.007"},{"key":"S026357471900184X_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152830"},{"key":"S026357471900184X_ref15","first-page":"1","article-title":"Mechanical analyses on the digital behavior of the Tokay Gecko (Gekko Gecko) based on a multi-level directional adhesion model","volume":"471","author":"Wu","year":"2015","journal-title":"Proc. R. Soc."},{"key":"S026357471900184X_ref24","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/AMR.328-330.388"},{"key":"S026357471900184X_ref29","unstructured":"29. Wu, X. , Research on the Bio-Inspired Dry Adhesive Mechanism and the Wall-Climbing Robot Ph.D. Dissertation (School of Engineering Science, University of Science and Technology of China, Hefei, 2015)."},{"key":"S026357471900184X_ref9","unstructured":"9. Minor, M. , Dulimarta, H. , Danghi, G. , Mukherjee, R. , Tummala, R. L. and Aslam, D. , \u201cDesign, Implementation, and Evaluation of an Under-Actuated Miniature Biped Climbing Robot,\u201d IEEE\/RSJ International Conference on Intelligent Robots & Systems, Takamatsu, Japan, (IEEE, 2000) pp. 1999\u20132005."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357471900184X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,29]],"date-time":"2021-01-29T09:06:16Z","timestamp":1611911176000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357471900184X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,15]]},"references-count":29,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["S026357471900184X"],"URL":"https:\/\/doi.org\/10.1017\/s026357471900184x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,1,15]]}}}