{"id":"https://openalex.org/W2412772218","doi":"https://doi.org/10.1109/icra.2016.7487447","title":"Design of four-arm four-crawler disaster response robot OCTOPUS","display_name":"Design of four-arm four-crawler disaster response robot OCTOPUS","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2412772218","doi":"https://doi.org/10.1109/icra.2016.7487447","mag":"2412772218"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064928700","display_name":"Hiroyuki Ishii","orcid":"https://orcid.org/0000-0002-5776-2423"},"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":"Hiroyuki Ishii","raw_affiliation_strings":["Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053529255","display_name":"Tatsuzo Ishida","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":"Tatsuzo Ishida","raw_affiliation_strings":["Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"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":"middle","author":{"id":"https://openalex.org/A5070277351","display_name":"Yo Kobayashi","orcid":"https://orcid.org/0000-0003-4358-6294"},"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":"Yo Kobayashi","raw_affiliation_strings":["Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"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":"Kenji Hashimoto","raw_affiliation_strings":["Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Science and Engineering (RISE), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","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, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"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":"Atsuo Takanishi","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111640158","display_name":"Masakatsu G. Fujie","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":"Masakatsu G. Fujie","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004364082","display_name":"Shuji Hashimoto","orcid":"https://orcid.org/0000-0003-2080-7795"},"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":"Shuji Hashimoto","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075841450","display_name":"Hiroshi Yamakawa","orcid":"https://orcid.org/0000-0002-6981-0349"},"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":"Hiroshi Yamakawa","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":12,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7504,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.83895128,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2840","last_page":"2845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9987999796867371,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9972000122070312,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9925000071525574,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/octopus","display_name":"octopus (software)","score":0.8371373414993286},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.704483687877655},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.5196234583854675},{"id":"https://openalex.org/keywords/operability","display_name":"Operability","score":0.5111187100410461},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.5061749815940857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4925423562526703},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4592869281768799},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4241524934768677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3861906826496124},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.33040285110473633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28367072343826294}],"concepts":[{"id":"https://openalex.org/C2779205690","wikidata":"https://www.wikidata.org/wiki/Q7077081","display_name":"octopus (software)","level":2,"score":0.8371373414993286},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.704483687877655},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.5196234583854675},{"id":"https://openalex.org/C126231374","wikidata":"https://www.wikidata.org/wiki/Q1061298","display_name":"Operability","level":2,"score":0.5111187100410461},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.5061749815940857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4925423562526703},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4592869281768799},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4241524934768677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3861906826496124},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.33040285110473633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28367072343826294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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":1,"locations":[{"id":"doi:10.1109/icra.2016.7487447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W42216503","https://openalex.org/W1496227908","https://openalex.org/W1950970151","https://openalex.org/W1991457665","https://openalex.org/W2003469378","https://openalex.org/W2014019964","https://openalex.org/W2034706158","https://openalex.org/W2034742870","https://openalex.org/W2043144176","https://openalex.org/W2050229555","https://openalex.org/W2064171812","https://openalex.org/W2078063607","https://openalex.org/W2109272040","https://openalex.org/W2132161921","https://openalex.org/W2160936795","https://openalex.org/W6601685708","https://openalex.org/W6629803705","https://openalex.org/W6648144181"],"related_works":["https://openalex.org/W1486626671","https://openalex.org/W2153012318","https://openalex.org/W1543696273","https://openalex.org/W2125626150","https://openalex.org/W4379404267","https://openalex.org/W2045316876","https://openalex.org/W2736987351","https://openalex.org/W2255799226","https://openalex.org/W2747091832","https://openalex.org/W1503976566"],"abstract_inverted_index":{"We":[0],"developed":[1],"a":[2,85],"four-arm":[3],"four-crawler":[4],"advanced":[5],"disaster":[6,40],"response":[7,12,41],"robot":[8,68],"called":[9],"OCTOPUS.":[10],"Disaster":[11],"robots":[13,42],"are":[14,43],"expected":[15],"to":[16,52],"be":[17],"capable":[18],"of":[19,57,133],"both":[20],"mobility,":[21],"e.g.,":[22,33],"entering":[23],"narrow":[24],"spaces":[25],"over":[26,115],"very":[27],"rough":[28,110],"unstable":[29],"ground,":[30],"and":[31,61,70,79,92,124,143,167,170],"workability,":[32,80],"conducting":[34,117],"complex":[35,98],"debris-demolition":[36],"work.":[37,119],"However,":[38],"conventional":[39],"specialized":[44],"in":[45,172],"either":[46],"mobility":[47,60,78],"or":[48],"workability.":[49],"Moreover,":[50],"strategies":[51],"independently":[53],"enhance":[54],"the":[55,67,77,131,149,158],"capability":[56],"crawlers":[58,108,169],"for":[59,63],"arms":[62,91,96,166],"workability":[64],"will":[65],"increase":[66],"size":[69],"weight.":[71],"To":[72,129],"balance":[73],"environmental":[74],"applicability":[75],"with":[76,84],"OCTOPUS":[81,120,156],"is":[82,121],"equipped":[83],"mutual":[86],"complementary":[87],"strategy":[88],"between":[89],"its":[90,164],"crawlers.":[93],"The":[94,106,152],"four":[95,107,150,165,168],"conduct":[97],"tasks":[99,160],"while":[100,112],"ensuring":[101],"stabilization":[102],"when":[103,116],"climbing":[104,140],"steps.":[105],"translate":[109],"terrain":[111],"avoiding":[113],"toppling":[114],"demolition":[118],"hydraulic":[122],"driven":[123],"teleoperated":[125],"by":[126,147,161],"two":[127,159],"operators.":[128],"evaluate":[130],"performance":[132],"OCTOPUS,":[134],"we":[135],"conducted":[136],"preliminary":[137],"experiments":[138],"involving":[139],"high":[141],"steps":[142],"removing":[144],"attached":[145],"objects":[146],"using":[148],"arms.":[151],"results":[153],"showed":[154],"that":[155],"completed":[157],"adequately":[162],"coordinating":[163],"improvement":[171],"operability":[173],"needs.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}