{"id":"https://openalex.org/W2762107903","doi":"https://doi.org/10.1109/ccta.2017.8062593","title":"Development of a prototype electrically-driven four-arm four-flipper disaster response robot OCTOPUS","display_name":"Development of a prototype electrically-driven four-arm four-flipper disaster response robot OCTOPUS","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2762107903","doi":"https://doi.org/10.1109/ccta.2017.8062593","mag":"2762107903"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062593","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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/A5001851501","display_name":"Mitsuhiro Kamezaki","orcid":"https://orcid.org/0000-0002-4377-8993"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Kamezaki","raw_affiliation_strings":["Research Institute for Science and Engineering (RISE), Waseda University, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Science and Engineering (RISE), Waseda University, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100682690","display_name":"Kui Chen","orcid":"https://orcid.org/0000-0002-7473-5697"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kui Chen","raw_affiliation_strings":["Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089770405","display_name":"Kohga Azuma","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kohga Azuma","raw_affiliation_strings":["Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012572627","display_name":"Takahiro Katano","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Katano","raw_affiliation_strings":["Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003047171","display_name":"Taisei Kaneko","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taisei Kaneko","raw_affiliation_strings":["Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Major in Modern Mechanical Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053529255","display_name":"Tatsuzo Ishida","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tatsuzo Ishida","raw_affiliation_strings":["Future Robotics Co., Ltd., Shinjuku-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future Robotics Co., Ltd., Shinjuku-ku, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023670122","display_name":"Masayuki Nakayama","orcid":"https://orcid.org/0000-0002-8231-3371"},"institutions":[{"id":"https://openalex.org/I4210139203","display_name":"Seiko Holdings (Japan)","ror":"https://ror.org/042n1zz26","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210139203"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Nakayama","raw_affiliation_strings":["Kikuchi Seisakusho Co., Ltd., Hachioji-shi, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kikuchi Seisakusho Co., Ltd., Hachioji-shi, Tokyo, Japan","institution_ids":["https://openalex.org/I4210139203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050130377","display_name":"Masatoshi Seki","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139203","display_name":"Seiko Holdings (Japan)","ror":"https://ror.org/042n1zz26","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210139203"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Seki","raw_affiliation_strings":["Kikuchi Seisakusho Co., Ltd., Hachioji-shi, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kikuchi Seisakusho Co., Ltd., Hachioji-shi, Tokyo, Japan","institution_ids":["https://openalex.org/I4210139203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018524831","display_name":"Ken Ichiryu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139203","display_name":"Seiko Holdings (Japan)","ror":"https://ror.org/042n1zz26","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210139203"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ken Ichiryu","raw_affiliation_strings":["Kikuchi Seisakusho Co., Ltd., Hachioji-shi, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kikuchi Seisakusho Co., Ltd., Hachioji-shi, Tokyo, Japan","institution_ids":["https://openalex.org/I4210139203"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.375,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.76219762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1019","last_page":"1024"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.995199978351593,"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":0.995199978351593,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9922999739646912,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9901000261306763,"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/octopus","display_name":"octopus (software)","score":0.9358359575271606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6569725275039673},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6287725567817688},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5257290601730347},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5235261917114258},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5019943714141846},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4908193051815033},{"id":"https://openalex.org/keywords/debris","display_name":"Debris","score":0.4767780601978302},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4751717448234558},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46307337284088135},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.4375390410423279},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37090253829956055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3199639320373535},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19337576627731323},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15509533882141113},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11716726422309875},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.088613361120224},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0864831805229187}],"concepts":[{"id":"https://openalex.org/C2779205690","wikidata":"https://www.wikidata.org/wiki/Q7077081","display_name":"octopus (software)","level":2,"score":0.9358359575271606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6569725275039673},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6287725567817688},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5257290601730347},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5235261917114258},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5019943714141846},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4908193051815033},{"id":"https://openalex.org/C2776023875","wikidata":"https://www.wikidata.org/wiki/Q637703","display_name":"Debris","level":2,"score":0.4767780601978302},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4751717448234558},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46307337284088135},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.4375390410423279},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37090253829956055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3199639320373535},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19337576627731323},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15509533882141113},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11716726422309875},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.088613361120224},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0864831805229187},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta.2017.8062593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062593","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W42216503","https://openalex.org/W78559758","https://openalex.org/W1496227908","https://openalex.org/W1950970151","https://openalex.org/W1991457665","https://openalex.org/W2064171812","https://openalex.org/W2078063607","https://openalex.org/W2132161921","https://openalex.org/W2160936795","https://openalex.org/W2412772218","https://openalex.org/W6648144181"],"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/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"In":[0,102],"a":[1,7,107,139],"previous":[2],"study,":[3,104],"we":[4,105,137,154],"have":[5,44],"developed":[6],"four-arm":[8],"four-crawler":[9],"disaster":[10,16],"response":[11,17],"robot":[12,54],"called":[13,111],"`OCTOPUS'.":[14],"Advanced":[15],"robots":[18],"are":[19],"expected":[20],"to":[21,89,113],"be":[22],"capable":[23],"of":[24,93,152],"both":[25],"mobility,":[26],"such":[27,37,119],"as":[28,38,84,120],"entering":[29],"narrow":[30],"spaces":[31],"over":[32,77],"unstructured":[33],"ground,":[34],"and":[35,96,131,146,162,164,172,189],"workability,":[36],"preforming":[39],"complex":[40,56],"debris-removal":[41],"work.":[42],"We":[43],"confirmed":[45],"experimentally":[46],"that":[47,178],"the":[48,53,65,129,150,169,182],"four":[49,66,170,173,187,190],"arms":[50,145,171,188],"could":[51,68,180],"make":[52,69],"perform":[55,90],"tasks":[57,183],"while":[58,64,74,133],"ensuring":[59],"stabilization":[60],"when":[61,78],"climbing":[62,159],"steps":[63,161],"flippers":[67],"it":[70],"traverse":[71],"rough":[72],"terrain":[73],"avoiding":[75],"toppling":[76],"conducting":[79],"manipulation":[80],"task.":[81],"OCTOPUS,":[82,110],"renamed":[83],"H-OCTOPUS,":[85],"is":[86,97],"oil-hydraulically":[87],"driven":[88],"outdoor":[91],"demolition":[92],"heavy":[94],"debris,":[95],"teleoperated":[98],"by":[99,167,184],"two":[100],"operators.":[101],"this":[103],"develop":[106],"prototype":[108],"electrically-driven":[109],"E-OCTOPUS,":[112,153],"manipulate":[114],"various":[115],"light-objects":[116],"mainly":[117],"indoors":[118],"valve":[121],"operations":[122],"in":[123],"nuclear":[124],"power":[125],"plants.":[126],"For":[127],"reducing":[128],"size":[130],"weight":[132],"maximizing":[134],"task":[135],"performance,":[136],"introduced":[138],"mutual":[140],"complementary":[141],"strategy":[142],"between":[143],"its":[144,186],"flippers.":[147,174,191],"To":[148],"validate":[149],"capability":[151],"performed":[155],"preliminary":[156],"experiments":[157],"involving":[158],"high":[160],"manipulating":[163],"cutting":[165],"wires":[166],"cooperating":[168],"The":[175],"results":[176],"indicated":[177],"E-OCTOPUS":[179],"complete":[181],"coordinating":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}