{"id":"https://openalex.org/W3089537413","doi":"https://doi.org/10.1109/icra40945.2020.9196919","title":"Development of a Wheeled Wall-Climbing Robot with a Shape-Adaptive Magnetic Adhesion Mechanism","display_name":"Development of a Wheeled Wall-Climbing Robot with a Shape-Adaptive Magnetic Adhesion Mechanism","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089537413","doi":"https://doi.org/10.1109/icra40945.2020.9196919","mag":"3089537413"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196919","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/A5034422649","display_name":"Haruhiko Eto","orcid":"https://orcid.org/0000-0002-7552-4621"},"institutions":[{"id":"https://openalex.org/I197507943","display_name":"Sumitomo Heavy Industries (Japan)","ror":"https://ror.org/03yskk486","country_code":"JP","type":"company","lineage":["https://openalex.org/I197507943"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Haruhiko Eto","raw_affiliation_strings":["Sumitomo Heavy Industries, Ltd., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sumitomo Heavy Industries, Ltd., Tokyo, Japan","institution_ids":["https://openalex.org/I197507943"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Harry Asada","raw_affiliation_strings":["d\u2019Arbeloff Laboratory for Information Systems and Technology, Massachusetts Institute of Technology, Cambridge, MA, USA","d'Arbeloff Laboratory for Information Systems and Technology, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"d\u2019Arbeloff Laboratory for Information Systems and Technology, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"d'Arbeloff Laboratory for Information Systems and Technology, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034422649"],"corresponding_institution_ids":["https://openalex.org/I197507943"],"apc_list":null,"apc_paid":null,"fwci":3.2216,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.9242491,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"9329","last_page":"9335"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9950000047683716,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/climb","display_name":"Climb","score":0.8470810651779175},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7832972407341003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6271048188209534},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.5214649438858032},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4304066300392151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4010929465293884},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39606428146362305},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.38126614689826965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29535356163978577},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.265552818775177},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.259145051240921},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2169189751148224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1440926194190979}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8470810651779175},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7832972407341003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6271048188209534},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5214649438858032},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4304066300392151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4010929465293884},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39606428146362305},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.38126614689826965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29535356163978577},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.265552818775177},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.259145051240921},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2169189751148224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1440926194190979},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196919","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W404533244","https://openalex.org/W1482949338","https://openalex.org/W1845008526","https://openalex.org/W1935646398","https://openalex.org/W1991229842","https://openalex.org/W1991239400","https://openalex.org/W1994782783","https://openalex.org/W1997275839","https://openalex.org/W2012223795","https://openalex.org/W2055715810","https://openalex.org/W2083365813","https://openalex.org/W2092064837","https://openalex.org/W2095634638","https://openalex.org/W2096921996","https://openalex.org/W2106678433","https://openalex.org/W2124064924","https://openalex.org/W2135918588","https://openalex.org/W2138767032","https://openalex.org/W2139392897","https://openalex.org/W2156398583","https://openalex.org/W2157580136","https://openalex.org/W2168606231","https://openalex.org/W2170402915","https://openalex.org/W2342858643","https://openalex.org/W2534043559","https://openalex.org/W2909229154","https://openalex.org/W2948643597","https://openalex.org/W2964166645","https://openalex.org/W4234356455","https://openalex.org/W6678567748"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2614603712","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8,28,63,75,99,121,125],"wheeled":[4],"wall-climbing":[5],"robot":[6,82,113,116],"with":[7,101],"shape-adaptive":[9],"magnetic":[10,32,50,60],"adhesion":[11,33],"mechanism":[12,34,78,133],"for":[13,95,111,124],"large":[14],"steel":[15],"structures.":[16],"To":[17],"travel":[18],"up":[19,85],"and":[20,66,91,134],"down":[21],"various":[22],"curved":[23,104],"ferromagnetic":[24],"surfaces,":[25],"we":[26],"developed":[27],"2":[29],"DOF":[30],"rotational":[31],"installed":[35],"on":[36,88,98],"each":[37,96],"wheel":[38,97],"that":[39,80],"can":[40,67,83],"change":[41],"the":[42,45,49,56,71,81,89,112,132,135],"orientation":[43],"of":[44,131,137],"magnets":[46],"to":[47,55,70,119],"keep":[48],"force":[51],"direction":[52],"always":[53],"normal":[54],"contact":[57,93],"surface.":[58],"These":[59],"wheels":[61],"have":[62],"spherical":[64],"shape":[65],"move":[68],"relative":[69],"main":[72],"body":[73],"by":[74],"non-elastic":[76],"suspension":[77],"so":[79],"climb":[84],"small":[86],"obstacles":[87],"ground":[90],"find":[92],"points":[94],"wall":[100],"an":[102],"arbitrary":[103],"shape.":[105],"Being":[106],"geometrically":[107],"stable":[108],"is":[109,117],"important":[110],"because":[114],"this":[115],"intended":[118],"be":[120],"mobile":[122],"base":[123],"welding":[126],"manipulator.":[127],"The":[128],"detailed":[129],"design":[130],"results":[136],"climbing":[138],"tests":[139],"are":[140],"presented.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
