{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T16:16:58Z","timestamp":1779207418429,"version":"3.51.4"},"reference-count":36,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2016,6,20]],"date-time":"2016-06-20T00:00:00Z","timestamp":1466380800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2016,6,20]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to present a design of climbing robot with magnetic wheels which can move on the surface of steel bridge. The locomotion concept is based on adapted lightweight magnetic wheel units with relatively high attractive force and friction force.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The robot has the main advantages of being compact (352 \u00d7 \u2013 215 \u00d7 \u2013 155 mm), lightweight (2.3 kg without battery) and simple mechanical structure. It is not only able to climb vertical walls and follow circumferential paths, but also able to pass complex obstacles such as bolts, steps, convex and concave corners with almost any inclination regarding gravity. By using a servo as a compliant joint, the wheel base can be changed to enable the robot to overcome convex corners.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The experiment results show that the climbing robot has a good performance on locomotion, and it is successful in negotiating the complex obstacles. On the other hand, the limitations in locomotion of the robot are also presented.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Compared with the past researches, the robot shows good performance on overcoming complex obstacles such as concave corners, convex corners, bolts and steps on the steel bridge. Magnetic wheel with the characterization of compact size and lightweight is able to provide bigger adhesion force and friction coefficient.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2015-0186","type":"journal-article","created":{"date-parts":[[2016,6,29]],"date-time":"2016-06-29T14:43:08Z","timestamp":1467211388000},"page":"429-447","source":"Crossref","is-referenced-by-count":36,"title":["Development of climbing robot for steel bridge inspection"],"prefix":"10.1108","volume":"43","author":[{"given":"Rui","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youhei","family":"Kawamura","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"4","key":"key2020121504524869500_ref001","doi-asserted-by":"crossref","first-page":"352","DOI":"10.1108\/01439910910957110","article-title":"Climbing cleaning robot for vertical surfaces","volume":"36","year":"2009","journal-title":"Industrial Robot: An International Journal"},{"key":"key2020121504524869500_ref002","article-title":"Design of a multi-segmented magnetic robot for hull inspection","year":"2014"},{"issue":"1","key":"key2020121504524869500_ref003","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1002\/rob.21411","article-title":"Highly compact robots for inspection of power plants","volume":"29","year":"2012","journal-title":"Journal of Field Robotics"},{"issue":"6","key":"key2020121504524869500_ref004","doi-asserted-by":"crossref","first-page":"1665","DOI":"10.1109\/TMECH.2013.2280653","article-title":"Inspection robot for hanger cable of suspension bridge: mechanism design and analysis","volume":"18","year":"2013","journal-title":"Mechatronics, IEEE\/ASME Transactions on"},{"issue":"3","key":"key2020121504524869500_ref005","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1007\/s10514-012-9318-8","article-title":"An open-source navigation system for micro aerial vehicles","volume":"34","year":"2013","journal-title":"Autonomous Robots"},{"issue":"2","key":"key2020121504524869500_ref006","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1002\/rob.21498","article-title":"A robot application for marine vessel inspection","volume":"31","year":"2014","journal-title":"Journal of Field Robotics"},{"key":"key2020121504524869500_ref007","article-title":"City-Climber, a new generation of wall-climbing robots","year":"2006"},{"key":"key2020121504524869500_ref009","unstructured":"Fischer, W. 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