{"id":"https://openalex.org/W4206451726","doi":"https://doi.org/10.1109/icar53236.2021.9659426","title":"Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection","display_name":"Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4206451726","doi":"https://doi.org/10.1109/icar53236.2021.9659426"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659426","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"2021 20th International Conference on Advanced Robotics (ICAR)","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/A5001761224","display_name":"Sergio Leggieri","orcid":"https://orcid.org/0000-0002-0944-5773"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Sergio Leggieri","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Engineer and Applied Science, University of Bergamo, Dalmine, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Engineer and Applied Science, University of Bergamo, Dalmine, Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058024285","display_name":"C. Canali","orcid":"https://orcid.org/0000-0001-8366-7334"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Canali","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065930752","display_name":"Ferdinando Cannella","orcid":"https://orcid.org/0000-0001-7602-1850"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ferdinando Cannella","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We\u00dfling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001761224"],"corresponding_institution_ids":["https://openalex.org/I11039511","https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.1538,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78127949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"24","issue":null,"first_page":"77","last_page":"82"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9912999868392944,"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/T12288","display_name":"Optimization and Search Problems","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5527313947677612},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.5492725372314453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5436384677886963},{"id":"https://openalex.org/keywords/reconfigurability","display_name":"Reconfigurability","score":0.5169314742088318},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4635466933250427},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44929447770118713},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.4415041506290436},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.43842217326164246},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.40572279691696167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40012842416763306},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32611799240112305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26436135172843933},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1556541621685028}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5527313947677612},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.5492725372314453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5436384677886963},{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.5169314742088318},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4635466933250427},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44929447770118713},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.4415041506290436},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.43842217326164246},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.40572279691696167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40012842416763306},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32611799240112305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26436135172843933},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1556541621685028},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar53236.2021.9659426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659426","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:145121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ICAR53236.2021.9659426>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5320480239","display_name":null,"funder_award_id":"20014485","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G6635732358","display_name":null,"funder_award_id":"MOTIE","funder_id":"https://openalex.org/F4320334879","funder_display_name":"Korea Evaluation Institute of Industrial Technology"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W23326872","https://openalex.org/W1564997798","https://openalex.org/W1976258917","https://openalex.org/W1988989622","https://openalex.org/W1998484460","https://openalex.org/W2006838934","https://openalex.org/W2009963281","https://openalex.org/W2016491158","https://openalex.org/W2067477688","https://openalex.org/W2090370942","https://openalex.org/W2098768009","https://openalex.org/W2115498595","https://openalex.org/W2120606903","https://openalex.org/W2123133133","https://openalex.org/W2135446023","https://openalex.org/W2135739564","https://openalex.org/W2507685332","https://openalex.org/W2602942583","https://openalex.org/W2770873596","https://openalex.org/W3004872481","https://openalex.org/W3083443883","https://openalex.org/W4250501149","https://openalex.org/W6675065949","https://openalex.org/W6677136357","https://openalex.org/W6680207742","https://openalex.org/W6735963245"],"related_works":["https://openalex.org/W1544665014","https://openalex.org/W2748364266","https://openalex.org/W4243861219","https://openalex.org/W2556374054","https://openalex.org/W2069545207","https://openalex.org/W2092579166","https://openalex.org/W1524068900","https://openalex.org/W3171907683","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Inspections":[0],"of":[1,14,24,42,49,57,71,78,98,138,222],"either":[2],"industrial":[3,79],"and":[4,12,91,106,149,163],"civil":[5],"structures":[6],"are":[7,27,34],"necessary":[8],"to":[9,85,129,187,203,208],"prevent":[10],"damages":[11],"loss":[13],"human":[15,31],"life.":[16],"Although":[17],"robotic":[18,198],"inspection":[19,43,80,117,168],"is":[20,84,217],"gaining":[21],"momentum,":[22],"most":[23],"the":[25,35,40,47,54,76,127,135,161,167,175,188,191,204,215,228,232,235],"operations":[26,211],"still":[28],"performed":[29],"by":[30],"workers.":[32],"Many":[33],"factors":[36],"that":[37],"slow":[38],"down":[39],"spread":[41],"robots,":[44],"in":[45,75,146],"particular,":[46],"lack":[48],"versatility":[50,87],"as":[51,53,197,212],"well":[52],"low":[55],"reliability":[56],"these":[58,110],"devices":[59],"constitute":[60],"a":[61,69,72,102,183],"huge":[62],"limitation.":[63],"In":[64],"this":[65],"work,":[66],"we":[67],"propose":[68],"design":[70],"hybrid":[73],"platform":[74,95],"context":[77],"tasks.":[81,118],"The":[82,93,141,152],"aim":[83],"address":[86],"issues":[88],"exploiting":[89],"modularity":[90],"self-reconfigurability.":[92],"final":[94],"will":[96,125,143,155,178],"consist":[97],"three":[99],"main":[100,103,189],"components:":[101],"mobile":[104,153],"base":[105,154],"two":[107,176,192],"vehicles.":[108],"All":[109],"systems":[111,128],"would":[112,194],"operate":[113],"independently":[114],"accomplishing":[115],"specific":[116],"However,":[119],"docking":[120],"interfaces":[121],"on":[122,227,234],"each":[123,139],"device":[124],"allow":[126],"reconfigure":[130],"into":[131,182],"different":[132],"robots":[133],"extending":[134],"application":[136],"range":[137],"unit.":[140],"vehicles":[142,162],"work":[144],"mainly":[145],"constrained":[147],"environments":[148],"narrow":[150],"spaces.":[151],"monitor":[156],"wide":[157],"areas,":[158],"carrying":[159],"around":[160],"deploying":[164],"them":[165],"near":[166],"target.":[169],"For":[170],"dealing":[171],"with":[172],"challenging":[173],"conditions,":[174],"crawlers":[177],"dock":[179],"together,":[180],"reconfiguring":[181],"snake-like":[184],"robot.":[185],"Docking":[186],"base,":[190],"vehicle":[193],"act":[195],"also":[196],"arms,":[199],"providing":[200],"manipulation":[201],"abilities":[202],"system,":[205],"thus":[206],"allowing":[207],"perform":[209],"maintenance":[210],"well.":[213],"Still,":[214],"project":[216],"at":[218],"an":[219],"early":[220],"stage":[221],"development.":[223],"Revisions":[224],"or":[225],"adjustments":[226],"prototype":[229],"may":[230],"follow":[231],"evaluations":[233],"crawler":[236],"performance.":[237]},"counts_by_year":[{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}