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Inspired by the winding climbing locomotion of arboreal snakes, a tethered pneumatic-actuated winding-styled soft rod-climbing robot that consists of two winding actuators and a telescopic actuator is proposed in this work. Based on constant curvature assumption, we develop a theoretical model to analyze the linear and bending motion of the actuators. We demonstrate that our robot can perform climbing locomotion similar to snakes, including turning around a corner along a rod, climbing a vertical rod with a maximum speed of 30.85\u2009mm\/s (0.193 body length\/s), and carrying a larger payload (weight, 500\u2009g, more than 25 times its self-weight) than existing soft climbing robots do on a vertical surface. In addition, the experimental tests exhibit the potential applications of the robot in special environments such as high-voltage cables, nuclear power plants, and underwater sites.<\/jats:p>","DOI":"10.1089\/soro.2019.0070","type":"journal-article","created":{"date-parts":[[2020,1,27]],"date-time":"2020-01-27T15:15:09Z","timestamp":1580138109000},"page":"500-511","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":206,"title":["Soft Rod-Climbing Robot Inspired by Winding Locomotion of Snake"],"prefix":"10.1177","volume":"7","author":[{"given":"Bing","family":"Liao","sequence":"first","affiliation":[{"name":"School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongbin","family":"Zang","sequence":"additional","affiliation":[{"name":"School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China."},{"name":"The Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, P.R. 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