{"id":"https://openalex.org/W4315631839","doi":"https://doi.org/10.1109/access.2023.3236252","title":"Development of Dual-Unit Ceiling Adhesion Robot System With Passive Hinge for Obstacle Traversal Under Kinodynamic Constraints","display_name":"Development of Dual-Unit Ceiling Adhesion Robot System With Passive Hinge for Obstacle Traversal Under Kinodynamic Constraints","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4315631839","doi":"https://doi.org/10.1109/access.2023.3236252"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3236252","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3236252","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10015013.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/ielx7/6287639/10005208/10015013.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031371856","display_name":"Young-woon Song","orcid":"https://orcid.org/0000-0001-9861-397X"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Young-Woon Song","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9861-397X","affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062871549","display_name":"Jun-Gill Kang","orcid":"https://orcid.org/0000-0001-6578-6989"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungill Kang","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6578-6989","affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028759687","display_name":"Son\u2010Cheol Yu","orcid":"https://orcid.org/0000-0001-5654-1816"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Son-Cheol Yu","raw_affiliation_strings":["Division of Advanced Nuclear Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5654-1816","affiliations":[{"raw_affiliation_string":"Division of Advanced Nuclear Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031371856"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2125,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.44533256,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"11","issue":null,"first_page":"4486","last_page":"4500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9959999918937683,"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":0.9959999918937683,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9843000173568726,"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":0.707551896572113},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.6743577718734741},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5915338397026062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5737516283988953},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.5274196863174438},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.47625088691711426},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.47082239389419556},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4332404136657715},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4287857413291931},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3790510892868042},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3611944317817688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3056856095790863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20007264614105225},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13916337490081787},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11490783095359802},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08829361200332642}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.707551896572113},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.6743577718734741},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5915338397026062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5737516283988953},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.5274196863174438},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.47625088691711426},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.47082239389419556},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4332404136657715},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4287857413291931},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3790510892868042},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3611944317817688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3056856095790863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20007264614105225},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13916337490081787},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11490783095359802},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08829361200332642},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2023.3236252","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3236252","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10015013.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:19080f5ab765456db4e36088ed407d53","is_oa":true,"landing_page_url":"https://doaj.org/article/19080f5ab765456db4e36088ed407d53","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 11, Pp 4486-4500 (2023)","raw_type":"article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/115230","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/115230","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3236252","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3236252","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10015013.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":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6299999952316284}],"awards":[{"id":"https://openalex.org/G443953093","display_name":null,"funder_award_id":"20220188","funder_id":"https://openalex.org/F4320327222","funder_display_name":"Korea Institute of Marine Science and Technology promotion"},{"id":"https://openalex.org/G6925829959","display_name":null,"funder_award_id":"20220188","funder_id":"https://openalex.org/F4320322011","funder_display_name":"Ministry of Oceans and Fisheries"}],"funders":[{"id":"https://openalex.org/F4320322011","display_name":"Ministry of Oceans and Fisheries","ror":"https://ror.org/00c5s4a53"},{"id":"https://openalex.org/F4320327222","display_name":"Korea Institute of Marine Science and Technology promotion","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4315631839.pdf","grobid_xml":"https://content.openalex.org/works/W4315631839.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W125783297","https://openalex.org/W1485306014","https://openalex.org/W1856933006","https://openalex.org/W1964573040","https://openalex.org/W1966046315","https://openalex.org/W1966091477","https://openalex.org/W2048820947","https://openalex.org/W2049273221","https://openalex.org/W2054686594","https://openalex.org/W2057191556","https://openalex.org/W2096907041","https://openalex.org/W2101412646","https://openalex.org/W2125095347","https://openalex.org/W2137782776","https://openalex.org/W2140929789","https://openalex.org/W2157723668","https://openalex.org/W2158334452","https://openalex.org/W2285664889","https://openalex.org/W2461072824","https://openalex.org/W2809930757","https://openalex.org/W2889530881","https://openalex.org/W2948514096","https://openalex.org/W2997199480","https://openalex.org/W3003218534","https://openalex.org/W3003445835","https://openalex.org/W3033578287","https://openalex.org/W3087519526","https://openalex.org/W3176315233","https://openalex.org/W3187646662","https://openalex.org/W3198308353","https://openalex.org/W3200997304","https://openalex.org/W3213490840","https://openalex.org/W4232476872"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2366394613","https://openalex.org/W2152421698"],"abstract_inverted_index":{"The":[0,169,191],"inspection":[1],"of":[2,15,54,126,150,193],"high":[3],"ceilings":[4,74],"or":[5,23],"surfaces":[6],"is":[7,26,65,94,114],"important":[8],"to":[9,67,118,161,177],"ensure":[10],"the":[11,18,52,81,124,135,140,145,151,155,162,165,179,186,194],"quality":[12],"and":[13,33,47,68,72,147,158,185],"safety":[14],"infrastructure;":[16],"however,":[17],"approach":[19],"adopted":[20],"by":[21,38,87,154,174,201],"people":[22],"conventional":[24],"robots":[25],"rather":[27],"limited.":[28],"Kinodynamic":[29],"constraints":[30],"(simultaneous":[31],"kinematic":[32],"dynamic":[34,132],"constraints)":[35],"are":[36],"presented":[37],"obstacles":[39],"in":[40,196,205],"real-life":[41,197,206],"scenarios,":[42],"such":[43],"as":[44],"suspended":[45],"piping":[46],"wiring,":[48],"which":[49],"further":[50],"limits":[51],"usability":[53],"robots.":[55],"Therefore,":[56],"this":[57,121],"paper":[58],"proposed":[59,141],"an":[60],"adhesion":[61,97,183],"robot":[62,82,119,152,180,195],"system":[63],"that":[64],"attached":[66],"maneuvers":[69],"on":[70,131],"flat":[71],"curved":[73],"while":[75],"traversing":[76],"obstructions.":[77],"To":[78],"traverse":[79],"obstacles,":[80],"comprises":[83],"two":[84],"units":[85],"connected":[86],"a":[88,127],"passive":[89],"hinge":[90,108],"mechanism.":[91],"Traversal":[92],"motion":[93],"achieved":[95],"under":[96,134],"force":[98,157],"control":[99,128,142],"with":[100],"preexisting":[101],"electric":[102],"ducted":[103],"fans":[104],"without":[105],"using":[106],"separate":[107],"motors;":[109],"thus,":[110],"no":[111],"additional":[112],"weight":[113],"included.":[115],"In":[116],"addition":[117],"hardware,":[120],"study":[122],"investigated":[123],"development":[125],"method":[129],"based":[130],"analysis":[133],"aforementioned":[136],"kinodynamic":[137],"constraints.":[138],"Specifically,":[139],"algorithm":[143,170],"considers":[144],"slipping":[146],"rollover":[148],"conditions":[149],"caused":[153],"external":[156],"moment":[159],"applied":[160],"unit":[163],"during":[164],"obstacle":[166],"traversal,":[167],"respectively.":[168],"was":[171,199],"systematically":[172],"analyzed":[173],"conducting":[175],"simulations":[176],"prevent":[178],"from":[181],"experiencing":[182],"failure,":[184],"results":[187],"were":[188],"verified":[189],"experimentally.":[190],"use":[192],"scenarios":[198],"determined":[200],"performing":[202],"feasibility":[203],"tests":[204],"applications.":[207]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
