{"id":"https://openalex.org/W1986938987","doi":"https://doi.org/10.1108/01439910910957110","title":"Climbing cleaning robot for vertical surfaces","display_name":"Climbing cleaning robot for vertical surfaces","publication_year":2009,"publication_date":"2009-06-13","ids":{"openalex":"https://openalex.org/W1986938987","doi":"https://doi.org/10.1108/01439910910957110","mag":"1986938987"},"language":"en","primary_location":{"id":"doi:10.1108/01439910910957110","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910957110","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040648128","display_name":"Teodor Akinfiev","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"funder","lineage":["https://openalex.org/I134820265"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Teodor Akinfiev","raw_affiliation_strings":["IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain","(IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain)"],"affiliations":[{"raw_affiliation_string":"IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"(IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain)","institution_ids":["https://openalex.org/I134820265"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043096111","display_name":"Manuel Armada","orcid":"https://orcid.org/0000-0001-5462-8213"},"institutions":[{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"funder","lineage":["https://openalex.org/I134820265"]},{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Manuel Armada","raw_affiliation_strings":["IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain","(IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain)"],"affiliations":[{"raw_affiliation_string":"IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"(IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain)","institution_ids":["https://openalex.org/I134820265"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022756056","display_name":"Samir Nabulsi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"funder","lineage":["https://openalex.org/I134820265"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Samir Nabulsi","raw_affiliation_strings":["IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain","(IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain)"],"affiliations":[{"raw_affiliation_string":"IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"(IAI/CSIC \u2013 Industrial Automation Institute, Madrid, Spain)","institution_ids":["https://openalex.org/I134820265"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040648128"],"corresponding_institution_ids":["https://openalex.org/I134820265","https://openalex.org/I4210125392"],"apc_list":null,"apc_paid":null,"fwci":1.3746,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.80370256,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"36","issue":"4","first_page":"352","last_page":"357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8867334127426147},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6951565742492676},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4935828447341919},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4744321405887604},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4731884002685547},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4708927273750305},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45875266194343567},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40067997574806213},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3803752064704895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3648323714733124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30901578068733215},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2729119658470154},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06442105770111084}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8867334127426147},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6951565742492676},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4935828447341919},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4744321405887604},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4731884002685547},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4708927273750305},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45875266194343567},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40067997574806213},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3803752064704895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3648323714733124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30901578068733215},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2729119658470154},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06442105770111084},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439910910957110","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910957110","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W137800057","https://openalex.org/W649457022","https://openalex.org/W2032353046","https://openalex.org/W2049273221","https://openalex.org/W2084532335","https://openalex.org/W2347917283","https://openalex.org/W2798779914","https://openalex.org/W3141106803"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762"],"abstract_inverted_index":{"Purpose":[0],"The":[1,21,65,157],"purpose":[2],"of":[3,33,45,55,60,78,113,119,136,144,159,168,183,208],"this":[4,41,105],"paper":[5,22,66],"is":[6,49,108,122,129,147,179],"to":[7,152],"develop":[8],"a":[9,43,46,61,73,196],"climbing":[10,198],"cleaning":[11,34,80,121],"robot":[12,48,81,115,170,199],"with":[13,98],"reasonably":[14],"high":[15],"productivities":[16,29,92],"for":[17,26,36,82,149,195,200,206],"vertical":[18,37,83,201],"surfaces.":[19,38,84],"Design/methodology/approach":[20],"analyzes":[23],"the":[24,27,69,79,86,99,111,114,117,127,137,142,150,160,166,169,176,184,209],"reasons":[25],"low":[28],"or":[30],"unreliable":[31],"work":[32,77],"robots":[35,185],"Based":[39],"on":[40,141],"analysis,":[42],"design":[44,71,88,191],"new":[47,62,70,87,190],"created.":[50],"Pilot":[51],"studies":[52],"were":[53],"performed":[54],"laboratory":[56],"and":[57,75,146,204],"industrial":[58,173],"prototypes":[59],"robot.":[63,101,210],"Findings":[64],"shows":[67],"that":[68,110,131],"provides":[72,89],"reliable":[74],"high\u2010performance":[76,197],"Thus,":[85],"increasing":[90],"in":[91,165],"more":[93],"than":[94],"ten":[95],"times":[96],"compared":[97],"known":[100],"Research":[102],"limitations/implications":[103],"In":[104],"paper,":[106],"it":[107],"assumed":[109],"speed":[112,135],"during":[116],"process":[118],"surface":[120,151],"constant.":[123],"For":[124],"future":[125],"research":[126,161],"algorithm":[128],"proposed":[130],"automatically":[132],"maintains":[133],"such":[134],"robot,":[138],"which":[139],"depends":[140],"degree":[143],"dirtiness":[145],"optimal":[148],"be":[153],"cleaned.":[154],"Practical":[155],"implications":[156],"results":[158],"have":[162],"been":[163,193],"used":[164],"manufacture":[167],"TITO":[171,186],"500":[172],"prototype.":[174],"Currently,":[175],"company":[177],"RatioForem":[178],"implementing":[180],"small\u2010lot":[181],"production":[182],"500.":[187],"Originality/value":[188],"A":[189],"has":[192],"developed":[194],"surfaces":[202],"cleaning,":[203],"algorithms":[205],"control":[207]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}