{"id":"https://openalex.org/W2028084835","doi":"https://doi.org/10.1108/ir-02-2013-330","title":"Mantis: hybrid leg-wheel ground mobile robot","display_name":"Mantis: hybrid leg-wheel ground mobile robot","publication_year":2014,"publication_date":"2014-01-14","ids":{"openalex":"https://openalex.org/W2028084835","doi":"https://doi.org/10.1108/ir-02-2013-330","mag":"2028084835"},"language":"en","primary_location":{"id":"doi:10.1108/ir-02-2013-330","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-02-2013-330","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/A5078540732","display_name":"Luca Bruzzone","orcid":"https://orcid.org/0000-0001-5732-5541"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Bruzzone","raw_affiliation_strings":["DIME, University of Genova, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"DIME, University of Genova, Genova, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051261883","display_name":"Pietro Fanghella","orcid":"https://orcid.org/0000-0003-4376-592X"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pietro Fanghella","raw_affiliation_strings":["DIME, University of Genova, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"DIME, University of Genova, Genova, Italy","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5078540732"],"corresponding_institution_ids":["https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":2.4899,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.88486782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"41","issue":"1","first_page":"26","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mantis","display_name":"Mantis","score":0.8602449297904968},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7886568307876587},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5948494076728821},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5395746231079102},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5083598494529724},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4969947636127472},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48616454005241394},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.45430949330329895},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.43014970421791077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4196665287017822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.366597056388855},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1232420802116394}],"concepts":[{"id":"https://openalex.org/C2779688209","wikidata":"https://www.wikidata.org/wiki/Q131250","display_name":"Mantis","level":2,"score":0.8602449297904968},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7886568307876587},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5948494076728821},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5395746231079102},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5083598494529724},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4969947636127472},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48616454005241394},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.45430949330329895},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.43014970421791077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4196665287017822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.366597056388855},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1232420802116394},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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:10.1108/ir-02-2013-330","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-02-2013-330","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"},{"id":"pmh:oai:iris.unige.it:11567/673765","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/673765","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1528217929","https://openalex.org/W1537476620","https://openalex.org/W1549086189","https://openalex.org/W1987175021","https://openalex.org/W1989925348","https://openalex.org/W2000719480","https://openalex.org/W2012092569","https://openalex.org/W2022781970","https://openalex.org/W2026843496","https://openalex.org/W2034740410","https://openalex.org/W2049377006","https://openalex.org/W2051202850","https://openalex.org/W2067536400","https://openalex.org/W2076330622","https://openalex.org/W2114615062","https://openalex.org/W2129287493","https://openalex.org/W2151453089","https://openalex.org/W2161427949","https://openalex.org/W2164185890","https://openalex.org/W4210737432","https://openalex.org/W4213451861","https://openalex.org/W4241589064","https://openalex.org/W6631689628"],"related_works":["https://openalex.org/W4391391708","https://openalex.org/W4367158150","https://openalex.org/W2029973929","https://openalex.org/W2323112089","https://openalex.org/W2324058214","https://openalex.org/W3109128554","https://openalex.org/W4312590534","https://openalex.org/W4205407652","https://openalex.org/W4377138153","https://openalex.org/W2047426691"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,54,124,154,189],"The":[2,55,107,125],"aim":[3],"of":[4,10,110,135,160,169,177,183,194,207],"the":[5,8,20,87,102,111,129,133,136,139,157,167],"research":[6],"is":[7,60,84,172],"development":[9],"a":[11,35,63,77,91,97,117,148],"small-scale":[12],"ground":[13],"mobile":[14],"robot":[15,59,112,140],"for":[16,41,95,120],"surveillance":[17],"and":[18,38,50,71,164,201,213],"inspection;":[19],"main":[21,64,88],"design":[22,137],"goals":[23],"are":[24],"mobility":[25,44],"in":[26,45,144,162,181],"indoor":[27,163],"environments":[28,146],"with":[29,67,80],"step":[30],"climbing":[31,208],"ability,":[32],"pivoting":[33],"around":[34],"vertical":[36,92],"axis":[37],"without":[39],"oscillations":[40],"stable":[42,204],"vision,":[43,205],"unstructured":[46,145],"environments,":[47,166],"low":[48],"mechanical":[49],"control":[51],"complexity.":[52],"Design/methodology/approach":[53],"proposed":[56],"hybrid":[57],"leg-wheel":[58],"characterized":[61],"by":[62,90],"body":[65,89],"equipped":[66],"two":[68,72,81],"actuated":[69],"wheels":[70,83],"praying":[73],"Mantis":[74,161,197],"rotating":[75],"legs;":[76],"rear":[78,103],"frame":[79],"idle":[82],"connected":[85],"to":[86,105,156],"revolute":[93,99],"joint":[94,100],"steering;":[96],"second":[98],"allows":[101],"axle":[104],"roll.":[106],"geometrical":[108],"synthesis":[109],"has":[113],"been":[114],"performed":[115],"using":[116],"nondimensional":[118],"approach":[119],"generality's":[121],"sake.":[122],"Findings":[123],"experimental":[126],"campaign":[127],"on":[128],"first":[130],"prototype":[131],"confirms":[132],"fulfilment":[134],"objectives;":[138],"can":[141],"efficiently":[142],"walk":[143],"realizing":[147],"mixed":[149],"wheeled-legged":[150],"locomotion.":[151],"Practical":[152],"implications":[153],"Thanks":[155],"operative":[158],"flexibility":[159],"outdoor":[165],"range":[168],"potential":[170],"applications":[171],"wide:":[173],"surveillance,":[174],"inspection,":[175],"monitoring":[176],"dangerous":[178],"locations,":[179],"intervention":[180],"case":[182],"terroristic":[184],"attacks,":[185],"military":[186],"tasks.":[187],"Originality/value":[188],"Different":[190],"from":[191],"other":[192],"robots":[193],"similar":[195],"size,":[196],"combines":[198],"high":[199,210],"speed":[200],"energetic":[202],"efficiency,":[203],"capability":[206],"over":[209],"steps,":[211],"obstacles":[212],"unevenness.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
