{"id":"https://openalex.org/W2101377783","doi":"https://doi.org/10.1109/icra.2014.6906947","title":"Blade-type crawler vehicle bio-inspired by a wharf roach","display_name":"Blade-type crawler vehicle bio-inspired by a wharf roach","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2101377783","doi":"https://doi.org/10.1109/icra.2014.6906947","mag":"2101377783"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5082700639","display_name":"Yasuyuki YAMADA","orcid":"https://orcid.org/0000-0003-4533-0022"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuyuki Yamada","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1Ookayama, Meguro-ku, Tokyo, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1Ookayama, Meguro-ku, Tokyo, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1Ookayama, Meguro-ku, Tokyo, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1Ookayama, Meguro-ku, Tokyo, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075377931","display_name":"Edwardo F. Fukushima","orcid":"https://orcid.org/0000-0001-8822-8154"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Edwardo F. Fukushima","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1Ookayama, Meguro-ku, Tokyo, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1Ookayama, Meguro-ku, Tokyo, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":2.402,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89168591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"5804","issue":null,"first_page":"806","last_page":"812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9735999703407288,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/terrain","display_name":"Terrain","score":0.855400800704956},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.7557982802391052},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5709440112113953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4859417676925659},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.48160073161125183},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4281439781188965},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41939643025398254},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4117484986782074},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07147175073623657}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.855400800704956},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.7557982802391052},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5709440112113953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4859417676925659},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.48160073161125183},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4281439781188965},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41939643025398254},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4117484986782074},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07147175073623657},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6906947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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":7,"referenced_works":["https://openalex.org/W69899431","https://openalex.org/W1833824432","https://openalex.org/W2001675004","https://openalex.org/W2024084391","https://openalex.org/W2096169664","https://openalex.org/W2134854819","https://openalex.org/W6602873900"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"Unmanned":[0],"rescue,":[1],"observation":[2],"and/or":[3,38],"research":[4],"vehicles":[5,26],"with":[6,56,72,144],"high":[7,13],"terrain":[8,19,29,69,119],"adaptability,":[9],"fast":[10],"velocity":[11,37],"and":[12,53,76,90,93,102,111,124,128],"reliability":[14],"to":[15],"reach":[16],"difficult":[17],"rough":[18,28],"locations":[20],"are":[21],"still":[22],"demanded,":[23],"but":[24],"most":[25],"increase":[27],"adapt":[30],"ability":[31],"at":[32,70,120],"the":[33,82,88,91,94,104,140],"expense":[34],"of":[35,47,87],"low":[36],"complex":[39],"mechanisms.":[40],"We":[41],"propose":[42],"a":[43,48,59,73,121],"novel":[44],"vehicle":[45],"consisting":[46],"very":[49,74],"simple":[50,75],"blade-type":[51],"crawler":[52,89],"active":[54,141],"antennas":[55,142],"rollers,":[57],"resembling":[58],"wharf":[60],"roach.":[61],"This":[62,79],"configuration":[63],"assures":[64],"stable":[65],"travelling":[66,127],"over":[67],"uneven":[68,118],"high-speeds,":[71],"reliable":[77],"mechanism.":[78],"article":[80],"presents":[81],"basic":[83,95],"concept,":[84],"mechanical":[85,107],"design":[86],"antennas,":[92],"motion":[96],"control":[97],"strategies.":[98],"Moreover,":[99],"we":[100],"built":[101],"tested":[103],"first":[105],"small":[106],"prototype":[108],"named":[109],"KEIOS-I,":[110],"got":[112],"successful":[113],"results":[114],"from":[115],"experiments":[116],"on":[117],"high-speed":[122],"traveling,":[123],"also":[125,134],"lateral":[126],"jumping":[129],"motions.":[130],"Future":[131],"work":[132],"will":[133],"implement":[135],"roller":[136],"skating":[137],"mode":[138],"using":[139],"equipped":[143],"rollers.":[145]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}