{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T13:54:25Z","timestamp":1774014865293,"version":"3.50.1"},"reference-count":48,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2020,7,16]],"date-time":"2020-07-16T00:00:00Z","timestamp":1594857600000},"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":[[2021,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Soft robots can perform effectively inspecting than rigid robots in some special environments such as nuclear pipelines and high-voltage cables. This article presents a versatile quadruped soft rod-climbing robot (SR-CR) that consists of four bending actuators and a telescopic actuator. The bending actuator is composed of flexible bellows with multiple folding air chambers, elastic telescopic layer (ETL), and strain-limiting layer (SLL). The telescopic actuator provides the energy for the robot to climb forward. The SR-CR is activated by a control strategy that alternates the body deformation and feet pneumatic clenched for stable climbing. The robot can climb rods at 90\u00b0, with the maximum speed of up to 2.33 mm\/s (0.018 body length\/s). At 0.83 HZ, the maximum moving speed of the robot in climbing horizontally parallel rods can reach 18.43 mm\/s. In addition, the SR-CR can also achieve multiple impressive functions, including turning around a corner at a rate of 7 mm\/s (0.054 body length\/s), carrying a payload of 3.7 times its self-weight on horizontal rods at a speed of 9 mm\/s (0.069 body length\/s).<\/jats:p>","DOI":"10.1017\/s0263574720000661","type":"journal-article","created":{"date-parts":[[2020,7,16]],"date-time":"2020-07-16T07:01:27Z","timestamp":1594882887000},"page":"686-698","source":"Crossref","is-referenced-by-count":23,"title":["A Quadruped Soft Robot for Climbing Parallel Rods"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4760-1455","authenticated-orcid":false,"given":"Nana","family":"Zhu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongbin","family":"Zang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0528-4914","authenticated-orcid":false,"given":"Bing","family":"Liao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huimin","family":"Qi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zheng","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mingyang","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Lang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yunjie","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2020,7,16]]},"reference":[{"key":"S0263574720000661_ref34","doi-asserted-by":"publisher","DOI":"10.5772\/59118"},{"key":"S0263574720000661_ref24","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0133"},{"key":"S0263574720000661_ref45","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7555"},{"key":"S0263574720000661_ref2","unstructured":"[2] Chen, R. , Liu, R. , Chen, J. and Zhang, J. , \u201cA gecko inspired wall-climbing robot based on electrostatic adhesion mechanism,\u201d In: IEEE International Conference on Robotics & Biomimetics IEEE, Shenzhen, China (2013) pp. 396\u2013401."},{"key":"S0263574720000661_ref23","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201800429"},{"key":"S0263574720000661_ref41","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0009"},{"key":"S0263574720000661_ref4","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711000579"},{"key":"S0263574720000661_ref10","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1017\/S0263574710000676","article-title":"A low-cost approach for self-calibration of climbing robots","volume":"29","author":"Mahmoud","year":"2011","journal-title":"Robotica."},{"key":"S0263574720000661_ref12","article-title":"Bionic torus as a self-adaptive soft grasper in robots","volume":"116","author":"Zang","year":"2019","journal-title":"Appl. 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