{"id":"https://openalex.org/W1991413570","doi":"https://doi.org/10.1108/01439910910957129","title":"An underground explorer robot based on peristaltic crawling of earthworms","display_name":"An underground explorer robot based on peristaltic crawling of earthworms","publication_year":2009,"publication_date":"2009-06-13","ids":{"openalex":"https://openalex.org/W1991413570","doi":"https://doi.org/10.1108/01439910910957129","mag":"1991413570"},"language":"en","primary_location":{"id":"doi:10.1108/01439910910957129","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910957129","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/A5113620272","display_name":"Hayato Omori","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hayato Omori","raw_affiliation_strings":["Precision Mechanics, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Precision Mechanics, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080890924","display_name":"Taro Nakamura","orcid":"https://orcid.org/0000-0003-2839-1288"},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taro Nakamura","raw_affiliation_strings":["Precision Mechanics, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Precision Mechanics, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046623097","display_name":"Takayuki Yada","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Yada","raw_affiliation_strings":["Precision Mechanics, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Precision Mechanics, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113620272"],"corresponding_institution_ids":["https://openalex.org/I96679780"],"apc_list":null,"apc_paid":null,"fwci":2.2234,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.86640244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"36","issue":"4","first_page":"358","last_page":"364"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965999722480774,"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":0.9965999722480774,"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/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9617999792098999,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.9535999894142151,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.8658915162086487},{"id":"https://openalex.org/keywords/dirt","display_name":"Dirt","score":0.760330319404602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7000095844268799},{"id":"https://openalex.org/keywords/peristalsis","display_name":"Peristalsis","score":0.6778223514556885},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4489969313144684},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4056243896484375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4054519534111023},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3371749818325043},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2929667532444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2598397731781006},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10182949900627136},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07854291796684265}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8658915162086487},{"id":"https://openalex.org/C2778582501","wikidata":"https://www.wikidata.org/wiki/Q555882","display_name":"Dirt","level":2,"score":0.760330319404602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7000095844268799},{"id":"https://openalex.org/C206813253","wikidata":"https://www.wikidata.org/wiki/Q308695","display_name":"Peristalsis","level":2,"score":0.6778223514556885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4489969313144684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4056243896484375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4054519534111023},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3371749818325043},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2929667532444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2598397731781006},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10182949900627136},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07854291796684265}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439910910957129","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910957129","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/W2035760025","https://openalex.org/W2037244693","https://openalex.org/W2098287856","https://openalex.org/W2101890444","https://openalex.org/W2138447034","https://openalex.org/W2168838142","https://openalex.org/W2174893130","https://openalex.org/W6680582847"],"related_works":["https://openalex.org/W2057213227","https://openalex.org/W2067064747","https://openalex.org/W2483334712","https://openalex.org/W2077604717","https://openalex.org/W2668969370","https://openalex.org/W4390135167","https://openalex.org/W1529805693","https://openalex.org/W2690713857","https://openalex.org/W2684087730","https://openalex.org/W2968643431"],"abstract_inverted_index":{"Purpose":[0],"An":[1],"earthworm":[2,275],"moves":[3,210],"by":[4,33],"peristaltic":[5,24,42,60,151,212,297],"crawling":[6,25,43,61,213,298],"which":[7,97],"brings":[8],"a":[9,38,41,59,81,86,115,230,239,254,302,316],"large":[10],"surface":[11,83,232],"into":[12],"contact":[13],"during":[14],"motions":[15],"and":[16,67,84,88,128,160,233,236,265,278,299,319],"requires":[17,171],"less":[18],"space":[19,32,174],"than":[20,175,252],"other":[21],"mechanisms.":[22],"A":[23,111],"is":[26,45,56,132,143,259,276],"suitable":[27],"for":[28,47,106,134,280],"moving":[29],"in":[30,85,89,109,114,238,247,253,315,320],"excavated":[31],"an":[34,48,72,148,156,178,218,273],"anterior":[35,157],"(front)":[36],"of":[37,53,71,99,177,184,194,197,204,208,217,272,286],"robot.":[39,186,288],"Therefore,":[40,169],"robot":[44,62,154,195,209,226,244,258,293],"useful":[46],"underground":[49],"explorer.":[50],"The":[51,94,153,257,270],"purpose":[52],"this":[54],"paper":[55],"to":[57,121],"develop":[58],"with":[63,69,211,215,261,267,282,296],"several":[64,100,198,262],"parallel":[65,101,199,263],"links":[66,264],"compare":[68],"motion":[70,216],"actual":[73,149,219,274],"earthworm.":[74,220],"Then":[75],"we":[76],"had":[77,201],"some":[78,311],"experiments":[79,312],"on":[80,181,229,301],"plane":[82,231,303],"tube,":[87],"vertical":[90,240,248,321],"perforated":[91,249,322],"dirt.":[92,323],"Design/methodology/approach":[93],"proposed":[95],"robot,":[96],"consists":[98,196],"mechanisms,":[102],"has":[103],"four":[104,206],"units":[105,193,207],"being":[107],"controlled":[108],"3\u2010DOF.":[110],"unit":[112,127,158],"expands":[113],"radial":[116],"direction":[117],"when":[118],"it":[119,170,307],"contracts":[120],"increase":[122],"the":[123,126,145,162,166,182,185,225,243,283,287,292],"friction":[124],"between":[125],"surroundings.":[129],"Dustproof":[130],"covering":[131],"attached":[133],"preventing":[135],"dirt":[136,250],"from":[137],"getting":[138],"inside":[139],"units.":[140],"Locomotion":[141],"mechanism":[142],"as":[144,147],"same":[146],"earthworm's":[150],"crawling.":[152],"makes":[155],"contract,":[159],"then":[161],"contraction":[163],"propagates":[164],"towards":[165],"posterior":[167],"(rear).":[168],"no":[172],"more":[173],"that":[176,191,224,310],"excavation":[179],"part":[180],"front":[183],"Findings":[187],"It":[188,221,289],"was":[189,222,290,308],"found":[190],"three":[192],"mechanisms":[200],"wide":[202],"range":[203],"manipulation;":[205],"compared":[214],"confirmed":[223,291,309],"could":[227,245,294],"turn":[228,300],"move":[234,246,295],"upward":[235],"downward":[237],"pipe.":[241,255],"Finally,":[242],"faster":[251],"Originality/value":[256],"designed":[260],"equipped":[266],"dustproof":[268],"covering.":[269],"locomotion":[271],"videotaped":[277],"analysed":[279,284],"comparing":[281],"movements":[285],"surface.":[304],"In":[305],"addition,":[306],"were":[313],"done":[314],"narrow":[317],"pipe":[318]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}