{"id":"https://openalex.org/W3028923408","doi":"https://doi.org/10.1109/access.2020.2997895","title":"Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability","display_name":"Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3028923408","doi":"https://doi.org/10.1109/access.2020.2997895","mag":"3028923408"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2997895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2997895","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09102280.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09102280.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050831080","display_name":"Rizuwana Parween","orcid":"https://orcid.org/0000-0002-3843-9997"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Rizuwana Parween","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3843-9997","affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086990384","display_name":"Abdullah Aamir Hayat","orcid":"https://orcid.org/0000-0001-6141-4600"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Abdullah Aamir Hayat","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6141-4600","affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088433291","display_name":"Karthikeyan Elangovan","orcid":"https://orcid.org/0000-0002-3407-5495"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Karthikeyan Elangovan","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005289149","display_name":"Koppaka Ganesh Sai Apuroop","orcid":"https://orcid.org/0000-0003-0133-4718"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]},{"id":"https://openalex.org/I173093425","display_name":"Chang Gung University","ror":"https://ror.org/00d80zx46","country_code":"TW","type":"education","lineage":["https://openalex.org/I173093425"]}],"countries":["SG","TW"],"is_corresponding":false,"raw_author_name":"Koppaka Ganesh Sai Apuroop","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design, Singapore","Nano Electronic Engineering and Design, Chang Gung University, Taoyuan City, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Nano Electronic Engineering and Design, Chang Gung University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I173093425"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048589588","display_name":"Manuel Vega Heredia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210095594","display_name":"Universidad Aut\u00f3noma de Occidente","ror":"https://ror.org/009m7cp22","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210095594"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Manuel Vega Heredia","raw_affiliation_strings":["Apt of Engineering and Technology, Universidad Aut\u00f3noma de Occidente, Los Mochis, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Apt of Engineering and Technology, Universidad Aut\u00f3noma de Occidente, Los Mochis, Mexico","institution_ids":["https://openalex.org/I4210095594"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mohan Rajesh Elara","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6504-1530","affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050831080"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.4797,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.79719719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"113429","last_page":"113442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9972000122070312,"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/kinematics","display_name":"Kinematics","score":0.7979345321655273},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7513142228126526},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6569749116897583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6376103162765503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.612080991268158},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5465547442436218},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.5330511331558228},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4833671450614929},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.48225241899490356},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4400051236152649},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4243302345275879},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28163963556289673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27239978313446045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2362785041332245},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.23063841462135315},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1472090780735016},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14689591526985168},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0719829797744751}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7979345321655273},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7513142228126526},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6569749116897583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6376103162765503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.612080991268158},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5465547442436218},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.5330511331558228},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4833671450614929},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.48225241899490356},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4400051236152649},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4243302345275879},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28163963556289673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27239978313446045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2362785041332245},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.23063841462135315},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1472090780735016},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14689591526985168},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0719829797744751},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2997895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2997895","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09102280.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:be6071b9457c45b7a14a3f344f23ad3b","is_oa":true,"landing_page_url":"https://doaj.org/article/be6071b9457c45b7a14a3f344f23ad3b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 113429-113442 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2997895","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2997895","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09102280.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4349881870","display_name":null,"funder_award_id":"192 22 00058","funder_id":"https://openalex.org/F4320320696","funder_display_name":"Agency for Science, Technology and Research"},{"id":"https://openalex.org/G7587118277","display_name":null,"funder_award_id":"192 25 00051","funder_id":"https://openalex.org/F4320320696","funder_display_name":"Agency for Science, Technology and Research"},{"id":"https://openalex.org/G7765174298","display_name":null,"funder_award_id":"Project No. 192 25 00051","funder_id":"https://openalex.org/F4320320696","funder_display_name":"Agency for Science, Technology and Research"}],"funders":[{"id":"https://openalex.org/F4320320696","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3028923408.pdf","grobid_xml":"https://content.openalex.org/works/W3028923408.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1482916814","https://openalex.org/W1906263073","https://openalex.org/W1979860670","https://openalex.org/W1983486816","https://openalex.org/W1989329448","https://openalex.org/W1991950393","https://openalex.org/W2012752411","https://openalex.org/W2073767424","https://openalex.org/W2083875135","https://openalex.org/W2094770975","https://openalex.org/W2100608820","https://openalex.org/W2101874720","https://openalex.org/W2102602081","https://openalex.org/W2119431657","https://openalex.org/W2138227025","https://openalex.org/W2150532485","https://openalex.org/W2163840630","https://openalex.org/W2167578669","https://openalex.org/W2520977494","https://openalex.org/W2582150358","https://openalex.org/W2602319589","https://openalex.org/W2791914840","https://openalex.org/W2889489516","https://openalex.org/W2907887410","https://openalex.org/W2907944627","https://openalex.org/W2999717467"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W2064761790","https://openalex.org/W2247893165","https://openalex.org/W3158732870","https://openalex.org/W1983823126","https://openalex.org/W2101970395","https://openalex.org/W1653876660","https://openalex.org/W2116018944"],"abstract_inverted_index":{"Nature":[0],"has":[1],"always":[2],"been":[3],"an":[4,31],"inspiration":[5],"for":[6],"engineers":[7],"and":[8,17,27,58,68,72,132,146,154,165],"designers":[9],"to":[10,130],"have":[11],"technological":[12],"inventions.":[13],"The":[14,64],"postures,":[15],"locomotion":[16],"gait":[18,140],"cycles":[19],"of":[20,92,99,116,121,125,135,158],"animals":[21],"are":[22,102],"usually":[23],"smooth,":[24],"dynamically":[25],"stable,":[26],"highly":[28],"adaptable":[29],"in":[30,75,78,80,104,162],"unknown":[32],"terrain.":[33],"Based":[34],"on":[35],"a":[36,43,81],"giraffe's":[37,93],"leg":[38],"folding":[39,97],"pattern,":[40],"we":[41,110,150],"develop":[42],"quadruped":[44],"hybrid":[45],"drain":[46,82,166],"mapping":[47],"robot":[48,106],"with":[49,83,128],"modular":[50],"sub-systems,":[51],"four":[52],"bar":[53],"inversion":[54],"mechanism":[55],"based":[56],"legs":[57],"bi-directional":[59],"rolling":[60],"wheel,":[61],"named,":[62],"Tarantula-II.":[63],"platform":[65,127,137,160],"undergoes":[66],"self-reconfiguration":[67],"achieves":[69],"variable":[70],"height":[71],"width,":[73],"which":[74],"turn":[76],"helps":[77],"navigation":[79],"multiple":[84],"level-shifts.":[85],"This":[86],"paper":[87],"describes":[88],"the":[89,96,100,105,112,118,126,136,143,152,159],"key":[90],"features":[91],"limb,":[94],"how":[95],"pattern":[98],"limbs":[101],"implemented":[103],"design.":[107],"In":[108],"addition,":[109],"discuss":[111],"detailed":[113],"mechanical":[114],"design":[115],"platform,":[117],"kinematics":[119,124,144],"analysis":[120,134],"each":[122],"leg,":[123],"respect":[129],"wheels,":[131],"structural":[133],"under":[138],"different":[139],"condition.":[141],"Applying":[142],"formulation":[145],"posture":[147],"correction":[148],"algorithm,":[149],"verify":[151],"mobility":[153],"level":[155],"shifting":[156],"capability":[157],"both":[161],"lab":[163],"setting":[164],"environment.":[167]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
