{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:19Z","timestamp":1777715839526,"version":"3.51.4"},"reference-count":53,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2009,2,1]],"date-time":"2009-02-01T00:00:00Z","timestamp":1233446400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,2]]},"abstract":"<jats:p>\n                    When climbing vertical or inclined surfaces, insects utilize claws, tibial spines, and tarsal pads to create attachment forces. These devices allow them to climb on a variety of substrates, including those that are smooth, soft, or porous. Recent advances in materials may make long-lasting dry adhesives and arrays of sharp hooks feasible attachment mechanisms for small robots. Mini-Whegs\n                    <jats:sup>TM<\/jats:sup>\n                    are a series of robots that use rotating wheel-legs driven by a single motor for locomotion. By testing specially designed wheel-legs with office tape, pairs of spines, and Velcro\u00ae, this work demonstrates the feasibility of applying novel adhesives and frictional materials passively on simple rotating legs. The resulting robot climbs vertical fabric surfaces with Velcro\u00ae, crosses ceilings with Scotch\u00ae tape, and climbs steep concrete inclines with sharp spines and provides a test-platform for future adhesive materials such as dry adhesive tape.\n                  <\/jats:p>","DOI":"10.1177\/0278364908095334","type":"journal-article","created":{"date-parts":[[2009,1,22]],"date-time":"2009-01-22T09:53:13Z","timestamp":1232617993000},"page":"285-302","source":"Crossref","is-referenced-by-count":101,"title":["Mini-Whegs TM Climbs Steep Surfaces Using Insect-inspired Attachment Mechanisms"],"prefix":"10.1177","volume":"28","author":[{"given":"Kathryn A.","family":"Daltorio","sequence":"first","affiliation":[{"name":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Terence E.","family":"Wei","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrew D.","family":"Horchler","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lori","family":"Southard","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gregory D.","family":"Wile","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roger D.","family":"Quinn","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stanislav N.","family":"Gorb","sequence":"additional","affiliation":[{"name":"Evolutionary Biomaterials Group, Max-Planck-Institute for Metals Research, 70569 Stuttgart, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roy E.","family":"Ritzmann","sequence":"additional","affiliation":[{"name":"Department of Biology, Case Western Reserve University, Cleveland, OH, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,2,1]]},"reference":[{"key":"atypb1","first-page":"1370","volume":"2","author":"Allen, T.J.","year":"2003","journal-title":"Las Vegas, NV"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1117\/12.606157"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01980"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1038\/35015073"},{"key":"atypb5","volume-title":"Proceedings of the 2007 IEEE International Conference on Robotics and Automation","author":"Berengueres, J."},{"key":"atypb6","volume-title":"A sensor platform capable of aerial and terrestrial locomotion. 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