{"id":"https://openalex.org/W2024581891","doi":"https://doi.org/10.1108/01439911311309960","title":"Design and control method for a high\u2010mobility in\u2010pipe robot with flexible links","display_name":"Design and control method for a high\u2010mobility in\u2010pipe robot with flexible links","publication_year":2013,"publication_date":"2013-04-22","ids":{"openalex":"https://openalex.org/W2024581891","doi":"https://doi.org/10.1108/01439911311309960","mag":"2024581891"},"language":"en","primary_location":{"id":"doi:10.1108/01439911311309960","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911311309960","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/A5047947807","display_name":"Woongsun Jeon","orcid":"https://orcid.org/0000-0003-1668-8893"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Woongsun Jeon","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, Texas, USA","[Department of Mechanical Engineering, Texas A&M University, College Station, Texas, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Texas A&M University, College Station, Texas, USA]","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100649690","display_name":"Inho Kim","orcid":"https://orcid.org/0000-0001-9452-622X"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inho Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","Yonsei university"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"Yonsei university","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030777560","display_name":"Jungwan Park","orcid":null},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungwan Park","raw_affiliation_strings":["Department of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","Yonsei university"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"Yonsei university","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101706781","display_name":"Hyunseok Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunseok Yang","raw_affiliation_strings":["Department of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","Department of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"Department of Mechanical Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047947807"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":1.0099,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.80301442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"40","issue":"3","first_page":"261","last_page":"274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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":0.9943000078201294,"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/robot","display_name":"Robot","score":0.7607589364051819},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6640452146530151},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5597203969955444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5211386680603027},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.494552344083786},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48590579628944397},{"id":"https://openalex.org/keywords/relay","display_name":"Relay","score":0.46051254868507385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39572036266326904},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39135074615478516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2130734920501709}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7607589364051819},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6640452146530151},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5597203969955444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5211386680603027},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.494552344083786},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48590579628944397},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.46051254868507385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39572036266326904},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39135074615478516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2130734920501709},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439911311309960","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439911311309960","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1608286119","https://openalex.org/W2044866364","https://openalex.org/W2052673631","https://openalex.org/W2064084347","https://openalex.org/W2102845425","https://openalex.org/W2103688927","https://openalex.org/W2103705684","https://openalex.org/W2122400691","https://openalex.org/W2139657259","https://openalex.org/W2145541782","https://openalex.org/W2146279617","https://openalex.org/W2157893028","https://openalex.org/W2545379708","https://openalex.org/W4250501149","https://openalex.org/W6636264491","https://openalex.org/W6675017625","https://openalex.org/W6681246940"],"related_works":["https://openalex.org/W2539674285","https://openalex.org/W1038122923","https://openalex.org/W1998322187","https://openalex.org/W2952514781","https://openalex.org/W3019210376","https://openalex.org/W2391145594","https://openalex.org/W2326572623","https://openalex.org/W1559320887","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Purpose":[0],"The":[1,55,109],"purpose":[2],"of":[3,57,125,144,184,196],"this":[4,28,71,96],"paper":[5,72,140,161],"is":[6,30,60,113,150],"to":[7,48,90,152,156,170],"propose":[8],"a":[9,64,74,84,87,91,134,168,185],"high\u2010mobility":[10],"in\u2010pipe":[11,147,188],"robot":[12,29,47,59,100,127,148,169,189],"platform":[13],"and":[14,42,52,82,104,123,154,173],"its":[15],"navigation":[16,75,97,121,164],"strategy":[17,76,122,165],"for":[18],"navigating":[19],"in":[20,133],"T\u2010branch":[21,92,106,175],"pipes":[22,107,176],"efficiently.":[23],"Design/methodology/approach":[24],"For":[25],"high":[26],"mobility,":[27],"developed":[31,69],"based":[32,62,77],"on":[33,63,78],"inchworm":[34,53],"locomotion.":[35,54],"An":[36],"extensor":[37],"mechanism":[38,143],"with":[39],"flexible":[40],"links":[41],"clamper":[43],"mechanisms":[44],"enable":[45],"the":[46,58,68,99,120,126,142,182],"conduct":[49],"both":[50,119],"steering":[51],"locomotion":[56],"modeled":[61],"pseudo\u2010rigid\u2010body":[65],"model.":[66],"From":[67],"model,":[70],"introduces":[73],"defining":[79],"relay":[80],"points":[81],"generating":[83],"path":[85,110],"from":[86],"main":[88],"pipe":[89,136,157],"pipe.":[93],"Findings":[94],"With":[95],"strategy,":[98],"can":[101,191],"avoid":[102,171],"collisions":[103,172],"enter":[105,174],"effectively.":[108,177],"generation":[111],"algorithm":[112],"verified":[114],"by":[115,130],"experiment.":[116],"In":[117],"addition,":[118],"mobility":[124],"are":[128],"demonstrated":[129],"experiments":[131],"conducted":[132],"commercial":[135],"configuration.":[137],"Originality/value":[138],"This":[139,160,178],"describes":[141,163],"an":[145],"inchworm\u2010type":[146],"that":[149,166,190],"able":[151],"steer":[153],"adapt":[155],"diameter":[158],"changes.":[159],"also":[162],"enables":[167],"research":[179],"will":[180],"help":[181],"construction":[183],"fully":[186],"autonomous":[187],"navigate":[192],"through":[193],"various":[194],"types":[195],"pipes.":[197]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
