{"id":"https://openalex.org/W2137724832","doi":"https://doi.org/10.1109/iros.2009.5354690","title":"Compact magnetic wheeled robot for inspecting complex shaped structures in generator housings and similar environments","display_name":"Compact magnetic wheeled robot for inspecting complex shaped structures in generator housings and similar environments","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2137724832","doi":"https://doi.org/10.1109/iros.2009.5354690","mag":"2137724832"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5111959746","display_name":"Wolfgang Fischer","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"W. Fischer","raw_affiliation_strings":["ETH Z\u00fcrich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071639194","display_name":"Gilles Caprari","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"G. Caprari","raw_affiliation_strings":["ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R. Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105774947","display_name":"R. Moser","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R. Moser","raw_affiliation_strings":["ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111959746"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.2234,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.87476264,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4116","last_page":"4121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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":0.9984999895095825,"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/T13715","display_name":"Power Line Inspection Robots","score":0.9979000091552734,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7472443580627441},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.6883963942527771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5383663177490234},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5372908115386963},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4660189151763916},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4560600817203522},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.4418806731700897},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36889246106147766},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3329148292541504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3322190046310425},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2536338269710541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1289055347442627},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11485671997070312}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7472443580627441},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.6883963942527771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5383663177490234},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5372908115386963},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4660189151763916},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4560600817203522},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.4418806731700897},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36889246106147766},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3329148292541504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3322190046310425},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2536338269710541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1289055347442627},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11485671997070312},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1556391057","https://openalex.org/W1935646398","https://openalex.org/W2067594561","https://openalex.org/W2077730979","https://openalex.org/W2095634638","https://openalex.org/W2103701180","https://openalex.org/W2111451187","https://openalex.org/W2113642395","https://openalex.org/W2114747793","https://openalex.org/W2114924842","https://openalex.org/W2130750661","https://openalex.org/W2156398583","https://openalex.org/W2318957292","https://openalex.org/W2321769789","https://openalex.org/W2335340026","https://openalex.org/W3146221501","https://openalex.org/W4248468313","https://openalex.org/W6633430945"],"related_works":["https://openalex.org/W3158538495","https://openalex.org/W8302103","https://openalex.org/W2045815042","https://openalex.org/W2995569247","https://openalex.org/W2361261209","https://openalex.org/W4389241047","https://openalex.org/W2092226129","https://openalex.org/W2913619905","https://openalex.org/W2997776052","https://openalex.org/W2331107224"],"abstract_inverted_index":{"In":[0],"this":[1,44,80],"paper,":[2],"we":[3,46],"present":[4,47],"the":[5,16,25,41,83,115],"mechanical":[6],"design":[7],"of":[8,27,40,79],"a":[9,37,48,92,119],"compact":[10],"magnetic":[11],"wheeled":[12],"robot":[13],"-":[14,59,69],"with":[15,61],"goal":[17],"to":[18],"do":[19],"inspection":[20],"and":[21,30,67,70,82,101,107],"vibration":[22],"measurements":[23],"in":[24,33,43,91,105],"housings":[26],"large":[28],"generators":[29],"similar":[31],"environments":[32],"power":[34],"plants.":[35],"After":[36],"detailed":[38],"analysis":[39],"specifications":[42],"application,":[45],"new":[49],"vehicle":[50],"structure":[51,81],"that":[52],"allows":[53],"for":[54,86,118],"passing":[55],"sharp":[56],"concave":[57],"corners":[58],"even":[60],"low":[62],"friction":[63],"coefficient":[64],"between":[65],"wheels":[66],"surface":[68],"without":[71],"using":[72],"an":[73],"additional":[74],"active":[75],"DOF.":[76],"The":[77,110],"advantages":[78],"core":[84],"parameters":[85],"its":[87],"optimization":[88],"are":[89],"described":[90],"quasi-static":[93],"2D":[94],"calculation":[95],"model.":[96],"A":[97],"prototype":[98],"was":[99],"implemented":[100],"successfully":[102],"tested":[103],"both":[104],"laboratory":[106],"real":[108],"environments.":[109],"paper":[111],"concludes":[112],"pointing":[113],"out":[114],"future":[116],"improvements":[117],"final":[120],"industrial":[121],"version.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
