{"id":"https://openalex.org/W2985809996","doi":"https://doi.org/10.1080/01691864.2019.1689167","title":"Development of a folding arm on an articulated mobile robot for plant disaster prevention","display_name":"Development of a folding arm on an articulated mobile robot for plant disaster prevention","publication_year":2019,"publication_date":"2019-11-12","ids":{"openalex":"https://openalex.org/W2985809996","doi":"https://doi.org/10.1080/01691864.2019.1689167","mag":"2985809996"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2019.1689167","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1689167","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://uec.repo.nii.ac.jp/records/9682","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086059406","display_name":"Nobutaka Matsumoto","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nobutaka Matsumoto","raw_affiliation_strings":["Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005230351","display_name":"Motoyasu Tanaka","orcid":"https://orcid.org/0000-0002-3717-8852"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Motoyasu Tanaka","raw_affiliation_strings":["Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3717-8852","affiliations":[{"raw_affiliation_string":"Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026171473","display_name":"Mizuki Nakajima","orcid":"https://orcid.org/0000-0002-8643-7187"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mizuki Nakajima","raw_affiliation_strings":["Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8643-7187","affiliations":[{"raw_affiliation_string":"Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084115884","display_name":"Masahiro Fujita","orcid":"https://orcid.org/0000-0002-0642-5099"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Fujita","raw_affiliation_strings":["Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2035-0617","affiliations":[{"raw_affiliation_string":"Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005230351"],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":null,"apc_paid":null,"fwci":0.8974,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.72746354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"34","issue":"2","first_page":"89","last_page":"103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.805158793926239},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6678675413131714},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.622600257396698},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.6166871786117554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6161640882492065},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.5260089635848999},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.510410726070404},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49651819467544556},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48954829573631287},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.47756534814834595},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.46708083152770996},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4621496796607971},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4375913739204407},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.4141533374786377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36388397216796875},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.34451860189437866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2882567346096039},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09822994470596313}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.805158793926239},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6678675413131714},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.622600257396698},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.6166871786117554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6161640882492065},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.5260089635848999},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.510410726070404},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49651819467544556},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48954829573631287},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.47756534814834595},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.46708083152770996},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4621496796607971},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4375913739204407},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.4141533374786377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36388397216796875},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34451860189437866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2882567346096039},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09822994470596313},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2019.1689167","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1689167","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:00931:0004659341","is_oa":true,"landing_page_url":"https://uec.repo.nii.ac.jp/records/9682","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Robotics","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:00931:0004659341","is_oa":true,"landing_page_url":"https://uec.repo.nii.ac.jp/records/9682","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Robotics","raw_type":"journal article"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G6153842468","display_name":"Hyper-redundant control of cord-like mechanical systems with flexion and extension degrees of freedom in complicated terrain","funder_award_id":"18K04011","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1990357615","https://openalex.org/W1990940450","https://openalex.org/W2025208539","https://openalex.org/W2032211017","https://openalex.org/W2054115913","https://openalex.org/W2064171812","https://openalex.org/W2064943973","https://openalex.org/W2071030813","https://openalex.org/W2078063607","https://openalex.org/W2078916289","https://openalex.org/W2090370942","https://openalex.org/W2113493173","https://openalex.org/W2117867221","https://openalex.org/W2120606903","https://openalex.org/W2120906125","https://openalex.org/W2122400691","https://openalex.org/W2127098615","https://openalex.org/W2144615120","https://openalex.org/W2164974664","https://openalex.org/W2225943295","https://openalex.org/W2277730489","https://openalex.org/W2320517403","https://openalex.org/W2398027777","https://openalex.org/W2412772218","https://openalex.org/W2579265282","https://openalex.org/W2645141812","https://openalex.org/W2744932746","https://openalex.org/W2759879155","https://openalex.org/W2766718428","https://openalex.org/W2782695305","https://openalex.org/W2805417526","https://openalex.org/W2900762779","https://openalex.org/W2905750221","https://openalex.org/W2905942915","https://openalex.org/W2952625826","https://openalex.org/W2985809996","https://openalex.org/W2986646554","https://openalex.org/W3083443883","https://openalex.org/W4252838624"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W2974577080","https://openalex.org/W2139206564","https://openalex.org/W4231506980","https://openalex.org/W2326516944","https://openalex.org/W3011984171","https://openalex.org/W2209062660","https://openalex.org/W2148067284","https://openalex.org/W2212679372","https://openalex.org/W3112787886"],"abstract_inverted_index":{"In":[0,101],"this":[1],"work,":[2],"we":[3,44],"develop":[4],"a":[5,93,147,175,180],"folding":[6,47],"arm":[7,48,69,108,116,128,143,167],"on":[8,129],"an":[9,15,37,154],"articulated":[10,60],"mobile":[11,61],"robot":[12,62,80],"to":[13,52,63,81,86,117],"inspect":[14],"industrial":[16,38],"plant.":[17,39],"The":[18,68,142,162],"design":[19],"targets":[20],"of":[21,35,58,106,126,164,189],"the":[22,33,42,46,56,59,79,104,107,111,115,118,127,130,165,184,190],"arm,":[23],"its":[24],"operations,":[25],"measurement":[26],"ability,":[27],"and":[28,55,75,77,109,140],"mobility,":[29],"were":[30],"set":[31],"for":[32],"task":[34],"inspecting":[36,96],"To":[40],"accomplish":[41],"targets,":[43],"designed":[45],"considering":[49],"both":[50],"accessibility":[51],"high":[53,99],"locations":[54],"mobility":[57,132],"which":[64,82],"it":[65,83,134],"is":[66,84,144],"attached.":[67],"has":[70],"links,":[71],"joints,":[72],"dummy":[73,112],"wheels,":[74],"sensors":[76],"enables":[78],"attached":[85],"manipulate":[87],"objects,":[88],"e.g.":[89],"rotating":[90],"valves,":[91],"opening":[92],"door,":[94],"or":[95],"by":[97,153],"accessing":[98],"locations.":[100],"addition,":[102],"changing":[103],"posture":[105],"touching":[110],"wheel":[113],"in":[114,174,179],"surrounding":[119],"terrain":[120],"can":[121],"reduce":[122],"any":[123],"negative":[124],"effect":[125],"robot's":[131],"when":[133],"encounters":[135],"narrow":[136],"spaces,":[137],"stairs,":[138],"steps,":[139],"trenches.":[141],"controlled":[145],"as":[146],"six":[148],"degrees-of-freedom":[149],"manipulator":[150],"without":[151],"redundancy":[152],"operator":[155],"who":[156],"directly":[157],"sets":[158],"two":[159],"joint":[160],"angles.":[161],"effectiveness":[163],"developed":[166],"was":[168],"demonstrated":[169],"not":[170],"only":[171],"through":[172],"experiments":[173],"laboratory":[176],"but":[177],"also":[178],"field":[181],"test":[182],"at":[183],"Plant":[185],"Disaster":[186],"Prevention":[187],"Challenge":[188],"World":[191],"Robot":[192],"Summit":[193],"2018.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}