{"id":"https://openalex.org/W2097421663","doi":"https://doi.org/10.1109/irds.2002.1043946","title":"A locomotive mechanism for a robotic colonoscope","display_name":"A locomotive mechanism for a robotic colonoscope","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2097421663","doi":"https://doi.org/10.1109/irds.2002.1043946","mag":"2097421663"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1043946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1043946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5049516631","display_name":"Byungkyu Kim","orcid":"https://orcid.org/0000-0002-2659-6952"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byungkyu Kim","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037999355","display_name":"Hun-Young Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hun-Young Lim","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001065565","display_name":"Kyoung-Dae Kim","orcid":"https://orcid.org/0000-0003-2631-1993"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoung-Dae Kim","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089607836","display_name":"Younkoo Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Younkoo Jeong","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031338961","display_name":"Jong\u2010Oh Park","orcid":"https://orcid.org/0000-0001-5362-2661"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jong-Oh Park","raw_affiliation_strings":["Intelligent Microsystem Center, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Microsystem Center, Seoul, South Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1373","last_page":"1378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9836000204086304,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7210399508476257},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5598870515823364},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47886988520622253},{"id":"https://openalex.org/keywords/colonoscopy","display_name":"Colonoscopy","score":0.4509623646736145},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42952775955200195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31215089559555054},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.20619013905525208},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14258691668510437},{"id":"https://openalex.org/keywords/colorectal-cancer","display_name":"Colorectal cancer","score":0.07443010807037354}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7210399508476257},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5598870515823364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47886988520622253},{"id":"https://openalex.org/C2778435480","wikidata":"https://www.wikidata.org/wiki/Q840387","display_name":"Colonoscopy","level":4,"score":0.4509623646736145},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42952775955200195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31215089559555054},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.20619013905525208},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14258691668510437},{"id":"https://openalex.org/C526805850","wikidata":"https://www.wikidata.org/wiki/Q188874","display_name":"Colorectal cancer","level":3,"score":0.07443010807037354},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"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/C121608353","wikidata":"https://www.wikidata.org/wiki/Q12078","display_name":"Cancer","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/irds.2002.1043946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1043946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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":5,"referenced_works":["https://openalex.org/W1994807802","https://openalex.org/W2072958876","https://openalex.org/W2096541901","https://openalex.org/W2107714744","https://openalex.org/W2163629662"],"related_works":["https://openalex.org/W2381279477","https://openalex.org/W3016587774","https://openalex.org/W2999920852","https://openalex.org/W2088704621","https://openalex.org/W3028983594","https://openalex.org/W2006998504","https://openalex.org/W2363227174","https://openalex.org/W2073857279","https://openalex.org/W2071852359","https://openalex.org/W3144766310"],"abstract_inverted_index":{"The":[0],"increasing":[1,12],"trend":[2],"towards":[3],"low":[4],"fiber,":[5],"high":[6],"fat":[7],"diets":[8],"is":[9,18,29],"leading":[10],"to":[11,24,31,64,81],"pathology":[13],"in":[14,98],"the":[15,27,32,71,77,83,86,102],"colon.":[16],"Colonoscopy":[17],"a":[19,39,105],"dexterous":[20],"skill":[21],"for":[22],"doctors":[23],"perform":[25],"and":[26,41,67,73,96],"procedure":[28],"painful":[30],"patient.":[33],"In":[34,79],"this":[35],"paper,":[36],"we":[37,89],"propose":[38],"new":[40],"simple":[42],"locomotive":[43,87],"mechanism":[44],"that":[45,59],"can":[46],"be":[47],"propelled":[48],"by":[49],"elliptic":[50],"motion":[51],"of":[52,76,85,93,104],"multi":[53],"legs.":[54],"It":[55],"has":[56],"several":[57,99],"legs":[58],"have":[60],"constant":[61],"phase":[62],"difference":[63],"each":[65],"other":[66],"are":[68],"disposed":[69],"along":[70],"upper":[72],"lower":[74],"ends":[75],"body.":[78],"order":[80],"evaluate":[82],"performance":[84],"mechanism,":[88],"carried":[90],"out":[91],"simulations":[92],"moving":[94],"characteristics":[95],"experiments":[97],"environments":[100],"including":[101],"colon":[103],"pig.":[106]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}