{"id":"https://openalex.org/W2111543322","doi":"https://doi.org/10.1109/iros.2008.4651223","title":"Crawler vehicle with circular cross-section unit to realize sideways motion","display_name":"Crawler vehicle with circular cross-section unit to realize sideways motion","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2111543322","doi":"https://doi.org/10.1109/iros.2008.4651223","mag":"2111543322"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Tadakuma","raw_affiliation_strings":["University of Electro-Communications, Tokyo, Japan","Univ. of Electro-Commun., Chofu"],"affiliations":[{"raw_affiliation_string":"University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Univ. of Electro-Commun., Chofu","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037772320","display_name":"Riichiro Tadakuma","orcid":"https://orcid.org/0000-0002-5676-2376"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. Tadakuma","raw_affiliation_strings":["AIST, Tokyo, Japan","AIST, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN"],"affiliations":[{"raw_affiliation_string":"AIST, Tokyo, Japan","institution_ids":[]},{"raw_affiliation_string":"AIST, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050838590","display_name":"Keiji Nagatani","orcid":"https://orcid.org/0000-0003-2147-2712"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Nagatani","raw_affiliation_strings":["University of Tohoku, Tokyo, Japan","Tohoku University, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN"],"affiliations":[{"raw_affiliation_string":"University of Tohoku, Tokyo, Japan","institution_ids":[]},{"raw_affiliation_string":"Tohoku University, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Yoshida","raw_affiliation_strings":["University of Tohoku, Tokyo, Japan","Tohoku University, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN"],"affiliations":[{"raw_affiliation_string":"University of Tohoku, Tokyo, Japan","institution_ids":[]},{"raw_affiliation_string":"Tohoku University, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084356911","display_name":"Stephen C. Peters","orcid":"https://orcid.org/0000-0002-9709-1847"},"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":"S. Peters","raw_affiliation_strings":["Massachsuetts lnstitute of Technology, Tokyo, Japan","Massachusetts Institute of Technology, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN"],"affiliations":[{"raw_affiliation_string":"Massachsuetts lnstitute of Technology, Tokyo, Japan","institution_ids":[]},{"raw_affiliation_string":"Massachusetts Institute of Technology, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080502536","display_name":"Martin Udengaard","orcid":null},"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":"M. Udengaard","raw_affiliation_strings":["Massachsuetts lnstitute of Technology, Tokyo, Japan","Massachusetts Institute of Technology, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN"],"affiliations":[{"raw_affiliation_string":"Massachsuetts lnstitute of Technology, Tokyo, Japan","institution_ids":[]},{"raw_affiliation_string":"Massachusetts Institute of Technology, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052432097","display_name":"Karl Iagnemma","orcid":null},"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":"K. Iagnemma","raw_affiliation_strings":["Massachsuetts lnstitute of Technology, Tokyo, Japan","Massachusetts Institute of Technology, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN"],"affiliations":[{"raw_affiliation_string":"Massachsuetts lnstitute of Technology, Tokyo, Japan","institution_ids":[]},{"raw_affiliation_string":"Massachusetts Institute of Technology, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585 JAPAN","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5016736580"],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":null,"apc_paid":null,"fwci":0.8225,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.79249482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2422","last_page":"2428"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9883000254631042,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9775000214576721,"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/web-crawler","display_name":"Web crawler","score":0.906864583492279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4963884949684143},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4769814610481262},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42099660634994507},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.41721999645233154},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4166872501373291},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41266492009162903},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.41034871339797974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38756197690963745},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3800855278968811},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19215178489685059},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15318769216537476}],"concepts":[{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.906864583492279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4963884949684143},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4769814610481262},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42099660634994507},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.41721999645233154},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4166872501373291},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41266492009162903},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.41034871339797974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38756197690963745},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3800855278968811},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19215178489685059},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15318769216537476},{"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/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},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4651223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W38081120","https://openalex.org/W1532677580","https://openalex.org/W1769309333","https://openalex.org/W2011090719","https://openalex.org/W2096870480","https://openalex.org/W2128397901","https://openalex.org/W2148395240","https://openalex.org/W2166825355","https://openalex.org/W2170086538","https://openalex.org/W2290044749"],"related_works":["https://openalex.org/W3005260231","https://openalex.org/W2904469652","https://openalex.org/W4362647146","https://openalex.org/W2383572231","https://openalex.org/W2042034567","https://openalex.org/W3179424333","https://openalex.org/W2782340266","https://openalex.org/W4230722125","https://openalex.org/W2149158941","https://openalex.org/W2359410036"],"abstract_inverted_index":{"In":[0],"this":[1,90],"paper,":[2],"a":[3,59,70,101],"novel":[4,87],"crawler":[5,13,31,44],"mechanism":[6,14],"for":[7],"sideways":[8,40,60,92],"motion":[9,93],"is":[10,15,56],"presented.":[11,106],"The":[12,62],"of":[16,27,89],"circular":[17,71],"cross-section":[18,72],"and":[19,94],"has":[20,76],"active":[21],"rolling":[22],"axes":[23],"at":[24],"the":[25,28,53,81,86],"center":[26],"circles.":[29],"Conventional":[30],"mechanisms":[32],"can":[33],"support":[34],"massive":[35],"loads,":[36],"but":[37],"cannot":[38],"produce":[39],"motion.":[41],"Additionally,":[42],"previous":[43],"edges":[45],"sink":[46],"undesirably":[47],"on":[48],"soft":[49],"ground,":[50],"particularly":[51],"when":[52],"vehicle":[54,103],"body":[55],"subject":[57],"to":[58,79],"tilt.":[61],"proposed":[63],"design":[64],"solves":[65],"these":[66],"drawbacks":[67],"by":[68],"adopting":[69],"crawler.":[73],"A":[74],"prototype":[75],"been":[77],"developed":[78],"illustrate":[80],"concept.":[82],"Motion":[83,98],"experiments":[84],"confirm":[85],"properties":[88],"mechanism:":[91],"robustness":[95],"against":[96],"edge-sink.":[97],"experiments,":[99],"with":[100],"test":[102],"are":[104],"also":[105]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}