{"id":"https://openalex.org/W3094106458","doi":"https://doi.org/10.1109/cacre50138.2020.9230311","title":"Design of A Novel Transformable Centaur Robot with Multilateral Control Interface for Search and Rescue Missions","display_name":"Design of A Novel Transformable Centaur Robot with Multilateral Control Interface for Search and Rescue Missions","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3094106458","doi":"https://doi.org/10.1109/cacre50138.2020.9230311","mag":"3094106458"},"language":"en","primary_location":{"id":"doi:10.1109/cacre50138.2020.9230311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230311","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-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/A5042466227","display_name":"Xiangxu Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiangxu Lin","raw_affiliation_strings":["Computer Science, Kent State University, Kent, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, Kent State University, Kent, Ohio, USA","institution_ids":["https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001933676","display_name":"Saifuddin Mahmud","orcid":"https://orcid.org/0000-0002-6828-3559"},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saifuddin Mahmud","raw_affiliation_strings":["Computer Science, Kent State University, Kent, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, Kent State University, Kent, Ohio, USA","institution_ids":["https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077340934","display_name":"Sara Roman","orcid":"https://orcid.org/0009-0002-5856-1487"},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sara Roman","raw_affiliation_strings":["Computer Science, Kent State University, Kent, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, Kent State University, Kent, Ohio, USA","institution_ids":["https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079178271","display_name":"Alfred Shaker","orcid":null},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred Shaker","raw_affiliation_strings":["Computer Science, Kent State University, Kent, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, Kent State University, Kent, Ohio, USA","institution_ids":["https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076007304","display_name":"Zachary Law","orcid":null},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Law","raw_affiliation_strings":["Computer Science, Kent State University, Kent, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, Kent State University, Kent, Ohio, USA","institution_ids":["https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009127894","display_name":"MinYi Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I2802372703","display_name":"Bronx High School of Science","ror":"https://ror.org/026xz9f02","country_code":"US","type":"education","lineage":["https://openalex.org/I2802372703"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"MinYi Lin","raw_affiliation_strings":["The High School for Math Science & Engineering, New York, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The High School for Math Science & Engineering, New York, USA","institution_ids":["https://openalex.org/I2802372703"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103962799","display_name":"Jong-Hoon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jong-Hoon Kim","raw_affiliation_strings":["Computer Science, Kent State University, Kent, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, Kent State University, Kent, Ohio, USA","institution_ids":["https://openalex.org/I149910238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.97,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7271035,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"200","last_page":"205"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9965000152587891,"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":0.9965000152587891,"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":0.991100013256073,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9871000051498413,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.7550315856933594},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7117767333984375},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6478071212768555},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5758289098739624},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4674915373325348},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.43005573749542236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.429019570350647},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38558635115623474},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.380546510219574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35057663917541504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34803900122642517}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.7550315856933594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7117767333984375},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6478071212768555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5758289098739624},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4674915373325348},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.43005573749542236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.429019570350647},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38558635115623474},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.380546510219574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35057663917541504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34803900122642517},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacre50138.2020.9230311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230311","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2034591033","https://openalex.org/W2411093439","https://openalex.org/W2530771494","https://openalex.org/W2766962317","https://openalex.org/W2796347433","https://openalex.org/W2971411375","https://openalex.org/W2989767337","https://openalex.org/W2995177259","https://openalex.org/W3004414061","https://openalex.org/W3146827622","https://openalex.org/W4293584584","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W4386128912"],"abstract_inverted_index":{"Increasing":[0],"occurrences":[1],"of":[2,37,111],"natural":[3],"and":[4,13,44,109,151],"man-made":[5],"disasters":[6],"have":[7],"driven":[8],"the":[9,62],"demand":[10],"for":[11],"search":[12],"rescue":[14],"(S&R)":[15],"robots.":[16],"However,":[17],"state-of-the-art":[18],"S&R":[19],"robots":[20],"serve":[21],"as":[22],"special-purpose":[23],"machines":[24],"with":[25,73,88,135],"limited":[26],"use":[27],"cases.":[28],"This":[29,55,96,141],"is":[30,125],"in":[31,41],"part":[32],"due":[33],"to":[34,116],"a":[35,51,67,74,82,128],"lack":[36],"human-centered":[38],"designs,":[39],"particularly":[40],"multilateral":[42,75,138],"control":[43,76,131,139,147],"human-robot":[45],"interactions.":[46],"Thus,":[47],"we":[48],"propose":[49],"TeleBot-R2,":[50],"novel":[52],"transformable":[53],"centaur-robot.":[54],"robot":[56,72,98],"extends":[57],"our":[58,144],"work":[59],"presented":[60],"at":[61],"2018":[63],"World":[64],"Robot":[65],"Summit,":[66],"hybrid":[68],"humanoid":[69,93],"(immersive":[70],"telepresence)":[71],"system.":[77,140],"Our":[78],"new":[79],"version":[80],"introduces":[81],"dual":[83],"flipper":[84],"caterpillar":[85],"track":[86],"base":[87],"an":[89,136],"enhanced":[90],"mechanically":[91],"dynamic":[92],"upper":[94],"body.":[95],"transformer":[97],"can":[99],"contract":[100],"into":[101],"multiple":[102],"configurations":[103],"that":[104,133],"change":[105],"it's":[106],"support":[107],"polygon":[108],"means":[110],"locomotion":[112],"-":[113],"allowing":[114],"it":[115],"navigate":[117],"more":[118],"efficiently":[119],"through":[120,127],"different":[121],"terrains.":[122],"Operational":[123],"awareness":[124],"heightened":[126],"VR":[129],"immersive":[130,149],"interface":[132],"interacts":[134],"AI-assisted":[137],"paper":[142],"presents":[143],"mechanical":[145],"design,":[146],"architecture,":[148],"interfaces,":[150],"AI-assistant.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}