{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T17:10:21Z","timestamp":1783098621683,"version":"3.54.6"},"reference-count":18,"publisher":"Emerald","issue":"5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,16]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>Regular inspection of steel I-beam girders is crucial to ensure structural safety. This study aims to develop a four-wheeled climbing robot capable of traversing typical obstacles on girders, including 20-mm high steps, concave and convex corners and 10-mm thick edges.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>The robot features a configuration adjustment mechanism, consisting of lead screws and linkages, which allows the wheelbase to adjust for traversing various obstacles. The authors analyze the mechanical and geometric constraints necessary for the robot to traverse these obstacles. Finally, the robot\u2019s feasibility is validated through laboratory and field tests.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>The experimental results show that the robot achieves a load capacity exceeding 5\u2009kg and successfully traverses the obstacles mentioned above. Meanwhile, the results confirm the validity of the proposed mechanical and geometric constraints.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>Compared to previous studies, the robot can traverse a wider variety of obstacle types and sizes. The authors introduced a steering mechanism that combines multi-joint steering with differential steering, enhancing the four-wheeled robot\u2019s steering flexibility. The proposed analysis of mechanical and geometric constraints provides theoretical support for the future design of climbing robots.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-12-2024-0542","type":"journal-article","created":{"date-parts":[[2025,3,24]],"date-time":"2025-03-24T06:17:27Z","timestamp":1742797047000},"page":"729-739","source":"Crossref","is-referenced-by-count":6,"title":["Design and experiment of climbing robot for steel I-beam girder inspection"],"prefix":"10.1108","volume":"52","author":[{"given":"Cheng","family":"Wang","sequence":"first","affiliation":[{"name":"Zhejiang University Ocean College, , Zhoushan, , and Haichuang Humanoid Robot Industry Innovation Center, Hangzhou, China","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shiqiang","family":"Zhu","sequence":"additional","affiliation":[{"name":"Zhejiang University Ocean College, , Zhoushan, ; Zhejiang University Robotics Institute, Hangzhou, China and Haichuang Humanoid Robot Industry Innovation Center, Hangzhou, China","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wei","family":"Song","sequence":"additional","affiliation":[{"name":"Zhejiang University College of Computer Science and Technology, , Hangzhou, ; Zhejiang University Robotics Institute, Hangzhou, China and Haichuang Humanoid Robot Industry Innovation Center, Hangzhou, China","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2025,3,26]]},"reference":[{"key":"2025101507173689500_ref001","first-page":"4617","volume-title":"2022 International Conference on Intelligent Robots and Systems (IROS)","author":"Ahmed","year":"2022"},{"issue":"4","key":"2025101507173689500_ref002","doi-asserted-by":"crossref","first-page":"2304","DOI":"10.3390\/app13042304","article-title":"Robots in inspection and monitoring of buildings and infrastructure: a systematic 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