{"id":"https://openalex.org/W2009057966","doi":"https://doi.org/10.1109/cca.2013.6662754","title":"A semi-active robot for steep obstacle ascent","display_name":"A semi-active robot for steep obstacle ascent","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W2009057966","doi":"https://doi.org/10.1109/cca.2013.6662754","mag":"2009057966"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2013.6662754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2013.6662754","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Control Applications (CCA)","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/A5002395763","display_name":"S Avinash","orcid":null},"institutions":[{"id":"https://openalex.org/I154549908","display_name":"Indian Institute of Technology Jodhpur","ror":"https://ror.org/03yacj906","country_code":"IN","type":"education","lineage":["https://openalex.org/I154549908"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"S Avinash","raw_affiliation_strings":["IIT Jodhpur"],"affiliations":[{"raw_affiliation_string":"IIT Jodhpur","institution_ids":["https://openalex.org/I154549908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040180420","display_name":"V. V. Anurag","orcid":null},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"V V Anurag","raw_affiliation_strings":["International Institute of Information Technology, Hyderabad, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology, Hyderabad, Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"A K Singh","raw_affiliation_strings":["International Institute of Information Technology, Hyderabad, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology, Hyderabad, Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014630904","display_name":"Suril V. Shah","orcid":"https://orcid.org/0000-0002-6979-916X"},"institutions":[{"id":"https://openalex.org/I154549908","display_name":"Indian Institute of Technology Jodhpur","ror":"https://ror.org/03yacj906","country_code":"IN","type":"education","lineage":["https://openalex.org/I154549908"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S V Shah","raw_affiliation_strings":["IIT Jodhpur"],"affiliations":[{"raw_affiliation_string":"IIT Jodhpur","institution_ids":["https://openalex.org/I154549908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K M Krishna","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002395763"],"corresponding_institution_ids":["https://openalex.org/I154549908"],"apc_list":null,"apc_paid":null,"fwci":0.4249,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6397493,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"122","last_page":"127"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9988999962806702,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/climbing","display_name":"Climbing","score":0.798969030380249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.710416853427887},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6790529489517212},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.6342736482620239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5643357634544373},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.542969286441803},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5019278526306152},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.49788570404052734},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46890202164649963},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4399508237838745},{"id":"https://openalex.org/keywords/hill-climbing","display_name":"Hill climbing","score":0.43537163734436035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4282014071941376},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42725154757499695},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41431185603141785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28628361225128174},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21397343277931213},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08671161532402039}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.798969030380249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.710416853427887},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6790529489517212},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.6342736482620239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5643357634544373},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.542969286441803},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5019278526306152},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.49788570404052734},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46890202164649963},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4399508237838745},{"id":"https://openalex.org/C135450995","wikidata":"https://www.wikidata.org/wiki/Q820272","display_name":"Hill climbing","level":2,"score":0.43537163734436035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4282014071941376},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42725154757499695},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41431185603141785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28628361225128174},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21397343277931213},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08671161532402039},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2013.6662754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2013.6662754","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Control Applications (CCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1590313028","https://openalex.org/W1966567389","https://openalex.org/W1971379688","https://openalex.org/W1974301635","https://openalex.org/W2034591033","https://openalex.org/W2062184028","https://openalex.org/W2096062173","https://openalex.org/W2102608217","https://openalex.org/W2115044306","https://openalex.org/W3146827622","https://openalex.org/W4229634948","https://openalex.org/W6675613034"],"related_works":["https://openalex.org/W4317738234","https://openalex.org/W2060963430","https://openalex.org/W2020542318","https://openalex.org/W2132222549","https://openalex.org/W4386618377","https://openalex.org/W2140139034","https://openalex.org/W1978852944","https://openalex.org/W2523661414","https://openalex.org/W2383606721","https://openalex.org/W2997199187"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"propose":[4],"a":[5,28],"semi-active":[6],"robot":[7,22],"for":[8,31,118],"climbing":[9,32,41,101],"steep":[10],"obstacles":[11],"like":[12],"steps,":[13],"curbs,":[14],"etc.":[15],"The":[16,67],"key":[17],"novelty":[18,69],"of":[19,27,34,43,47,70,89,99,107,115,126,135],"the":[20,25,48,71,87,94,97,105,112,127],"proposed":[21],"lies":[23],"in":[24,73,104],"use":[26],"passive":[29,108],"mechanism":[30,95,109,128],"steps":[33,42,134],"smaller":[35],"heights":[36],"and":[37],"motor":[38],"only":[39,122],"while":[40],"bigger":[44],"heights.":[45,137],"Analysis":[46],"robot's":[49],"stability":[50],"during":[51],"its":[52],"ascent":[53],"phase":[54],"is":[55,61,81,129],"also":[56],"investigated.":[57],"Model":[58],"based":[59],"control":[60],"used":[62],"to":[63,75],"achieve":[64],"step":[65,79,90],"climbing.":[66],"other":[68],"robot,":[72],"contrast":[74],"existing":[76],"active":[77,116],"suspension":[78],"climbers,":[80],"that":[82],"it":[83],"does":[84],"not":[85],"need":[86],"knowledge":[88],"height":[91],"beforehand.":[92],"Therefore,":[93],"has":[96],"advantage":[98],"height-independent":[100],"motion":[102],"as":[103],"case":[106],"along":[110],"with":[111],"extra":[113],"freedom":[114],"joints":[117],"maintaining":[119],"vehicle":[120],"stability,":[121],"when":[123],"required.":[124],"Efficacy":[125],"exhibited":[130],"through":[131],"simulations":[132],"on":[133],"various":[136]},"counts_by_year":[{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}