{"id":"https://openalex.org/W3089464821","doi":"https://doi.org/10.1109/icra40945.2020.9196554","title":"Design and Implementation of Hydraulic-Cable driven Manipulator for Disaster Response Operation","display_name":"Design and Implementation of Hydraulic-Cable driven Manipulator for Disaster Response Operation","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089464821","doi":"https://doi.org/10.1109/icra40945.2020.9196554","mag":"3089464821"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5082276951","display_name":"Jungyeong Kim","orcid":"https://orcid.org/0000-0002-7774-1507"},"institutions":[{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jungyeong Kim","raw_affiliation_strings":["Robotics and Virtual Engineering, University of Science and Technology (UST), Daejon, South Korea"],"affiliations":[{"raw_affiliation_string":"Robotics and Virtual Engineering, University of Science and Technology (UST), Daejon, South Korea","institution_ids":["https://openalex.org/I88761825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031038454","display_name":"Jaehong Seo","orcid":"https://orcid.org/0000-0002-5161-717X"},"institutions":[{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaehong Seo","raw_affiliation_strings":["Intelligent Robot Engineering, University of Science and Technology (UST), Daejon, South Korea"],"affiliations":[{"raw_affiliation_string":"Intelligent Robot Engineering, University of Science and Technology (UST), Daejon, South Korea","institution_ids":["https://openalex.org/I88761825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014114187","display_name":"Sangshin Park","orcid":"https://orcid.org/0000-0003-2407-0962"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangshin Park","raw_affiliation_strings":["Robotics R&D Group, Korea Institute of Industrial Technology (KITECH), Ansan, South Korea"],"affiliations":[{"raw_affiliation_string":"Robotics R&D Group, Korea Institute of Industrial Technology (KITECH), Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068698826","display_name":"Sang-Chul Han","orcid":"https://orcid.org/0000-0003-3773-8263"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangchul Han","raw_affiliation_strings":["Robotics R&D Group, Korea Institute of Industrial Technology (KITECH), Ansan, South Korea"],"affiliations":[{"raw_affiliation_string":"Robotics R&D Group, Korea Institute of Industrial Technology (KITECH), Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026485905","display_name":"Jungsan Cho","orcid":"https://orcid.org/0000-0002-4548-880X"},"institutions":[{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungsan Cho","raw_affiliation_strings":["Robotics, Industrial Technology, University of Science and Technology (UST), Daejon, South Korea"],"affiliations":[{"raw_affiliation_string":"Robotics, Industrial Technology, University of Science and Technology (UST), Daejon, South Korea","institution_ids":["https://openalex.org/I88761825"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5082276951"],"corresponding_institution_ids":["https://openalex.org/I88761825"],"apc_list":null,"apc_paid":null,"fwci":0.1717,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.46554223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"8215","last_page":"8221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9979000091552734,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9955999851226807,"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/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.7548747062683105},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7166314721107483},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6208705902099609},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6200686097145081},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.5958961248397827},{"id":"https://openalex.org/keywords/linear-actuator","display_name":"Linear actuator","score":0.5507782101631165},{"id":"https://openalex.org/keywords/electro-hydraulic-actuator","display_name":"Electro-hydraulic actuator","score":0.5407050251960754},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5164451599121094},{"id":"https://openalex.org/keywords/telescopic-cylinder","display_name":"Telescopic cylinder","score":0.4539012312889099},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.4509987533092499},{"id":"https://openalex.org/keywords/hydraulic-motor","display_name":"Hydraulic motor","score":0.44447624683380127},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44357195496559143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4193558096885681},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3815019428730011},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3631677031517029},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3272434175014496},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2890331447124481},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.109637051820755}],"concepts":[{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.7548747062683105},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7166314721107483},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6208705902099609},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6200686097145081},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.5958961248397827},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.5507782101631165},{"id":"https://openalex.org/C53432115","wikidata":"https://www.wikidata.org/wiki/Q5357907","display_name":"Electro-hydraulic actuator","level":3,"score":0.5407050251960754},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5164451599121094},{"id":"https://openalex.org/C44357349","wikidata":"https://www.wikidata.org/wiki/Q2401966","display_name":"Telescopic cylinder","level":2,"score":0.4539012312889099},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.4509987533092499},{"id":"https://openalex.org/C29450929","wikidata":"https://www.wikidata.org/wiki/Q3183265","display_name":"Hydraulic motor","level":2,"score":0.44447624683380127},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44357195496559143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4193558096885681},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3815019428730011},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3631677031517029},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3272434175014496},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2890331447124481},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.109637051820755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1488777087","https://openalex.org/W2111749194","https://openalex.org/W2156996022","https://openalex.org/W2296003317","https://openalex.org/W2415044741","https://openalex.org/W2524700243","https://openalex.org/W2541470273","https://openalex.org/W2554423287","https://openalex.org/W2747172592","https://openalex.org/W2772044689","https://openalex.org/W2785527852","https://openalex.org/W2797545920","https://openalex.org/W2811189472","https://openalex.org/W2912365230","https://openalex.org/W2944561196","https://openalex.org/W2972461403"],"related_works":["https://openalex.org/W2625310146","https://openalex.org/W2891602905","https://openalex.org/W3119418459","https://openalex.org/W2965049960","https://openalex.org/W2886705130","https://openalex.org/W4235936129","https://openalex.org/W3200776303","https://openalex.org/W1972787478","https://openalex.org/W2734327968","https://openalex.org/W4233104623"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,31,46,92],"new":[4,87],"hydraulic":[5,18,48,98],"manipulator":[6,89,99,128],"with":[7],"hydraulic-cable":[8,109],"driven":[9,110],"actuation":[10,19,111],"(HCA)":[11],"modules":[12,112,126],"for":[13],"disaster":[14,135],"response":[15,136],"mobile-manipulation.":[16],"The":[17],"system":[20],"has":[21,30,91],"the":[22,53,96,120,124],"potential":[23],"to":[24,37,132],"apply":[25],"disaster-response":[26],"application,":[27],"because":[28,52],"it":[29],"higher":[32],"power-to-weight":[33],"ratio":[34],"and":[35,63,100,127,129],"robustness":[36],"external":[38],"impacts":[39],"than":[40,95],"electric":[41],"motor":[42],"actuation.":[43],"However,":[44],"using":[45],"conventional":[47,57,97],"manipulators":[49],"is":[50],"inappropriate":[51],"revolute":[54],"joint":[55],"uses":[56],"actuators,":[58],"such":[59],"as":[60],"linear":[61,70],"cylinders":[62],"vanes,":[64],"which":[65,90],"have":[66],"some":[67],"limitations:":[68],"1)":[69],"cylinder:":[71],"small":[72],"range":[73],"of":[74,123],"motion,":[75],"2)":[76],"vane:":[77],"low":[78],"torque-toweight":[79],"ratio.":[80,103],"To":[81,104],"overcome":[82],"these":[83],"limitations,":[84],"we":[85,107],"propose":[86],"3DOF":[88],"larger":[93],"workspace":[94],"comparable":[101],"payloadto-weight":[102],"this":[105],"end,":[106],"use":[108],"from":[113],"our":[114],"previous":[115],"research.":[116],"Experimental":[117],"results":[118],"verify":[119],"basic":[121],"performance":[122],"actuator":[125],"their":[130],"capability":[131],"perform":[133],"various":[134],"tasks.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}