{"id":"https://openalex.org/W2120606903","doi":"https://doi.org/10.1109/iros.2009.5354751","title":"A snake-like robot for internal inspection of complex pipe structures (PIKo)","display_name":"A snake-like robot for internal inspection of complex pipe structures (PIKo)","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2120606903","doi":"https://doi.org/10.1109/iros.2009.5354751","mag":"2120606903"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354751","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":"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/A5017282255","display_name":"Sigurd Aksnes Fjerdingen","orcid":null},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Sigurd A. Fjerdingen","raw_affiliation_strings":["Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","SINTEF ICT, Dept. of Applied Cybernetics, N-7465 Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]},{"raw_affiliation_string":"SINTEF ICT, Dept. of Applied Cybernetics, N-7465 Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029922227","display_name":"P\u00e5l Liljeb\u00e4ck","orcid":null},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Pal Liljeback","raw_affiliation_strings":["Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","SINTEF ICT, Dept. of Applied Cybernetics, N-7465 Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]},{"raw_affiliation_string":"SINTEF ICT, Dept. of Applied Cybernetics, N-7465 Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073872424","display_name":"Aksel A. Transeth","orcid":"https://orcid.org/0009-0007-9440-8515"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Aksel A. Transeth","raw_affiliation_strings":["Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","SINTEF ICT, Dept. of Applied Cybernetics, N-7465 Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]},{"raw_affiliation_string":"SINTEF ICT, Dept. of Applied Cybernetics, N-7465 Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I173888879"],"apc_list":null,"apc_paid":null,"fwci":8.7835,"has_fulltext":false,"cited_by_count":108,"citation_normalized_percentile":{"value":0.98327672,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5665","last_page":"5671"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/mechanism","display_name":"Mechanism (biology)","score":0.7611908912658691},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6101751327514648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5857647061347961},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5732216238975525},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5543330907821655},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46056658029556274},{"id":"https://openalex.org/keywords/horizontal-and-vertical","display_name":"Horizontal and vertical","score":0.439532607793808},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3466007113456726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.335691899061203},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.32634419202804565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.287736713886261},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.21578019857406616},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15935483574867249},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12702509760856628},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.07040268182754517}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7611908912658691},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6101751327514648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5857647061347961},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5732216238975525},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5543330907821655},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46056658029556274},{"id":"https://openalex.org/C59218005","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal and vertical","level":2,"score":0.439532607793808},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3466007113456726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.335691899061203},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.32634419202804565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.287736713886261},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.21578019857406616},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15935483574867249},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12702509760856628},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.07040268182754517},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5354751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354751","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"},{"id":"pmh:oai:brage.bibsys.no:11250/2430399","is_oa":false,"landing_page_url":"http://hdl.handle.net/11250/2430399","pdf_url":null,"source":{"id":"https://openalex.org/S4306400255","display_name":"BIBSYS Brage (BIBSYS (Norway))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173212132","host_organization_name":"Vilnius University","host_organization_lineage":["https://openalex.org/I173212132"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"5665-5671","raw_type":"Chapter"},{"id":"pmh:oai:brage.bibsys.no:11250/2497961","is_oa":false,"landing_page_url":"http://hdl.handle.net/11250/2497961","pdf_url":null,"source":{"id":"https://openalex.org/S4306400255","display_name":"BIBSYS Brage (BIBSYS (Norway))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173212132","host_organization_name":"Vilnius University","host_organization_lineage":["https://openalex.org/I173212132"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"5665-5671","raw_type":"Chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W198676126","https://openalex.org/W1482916814","https://openalex.org/W1493441771","https://openalex.org/W1564332991","https://openalex.org/W1573670163","https://openalex.org/W2054903195","https://openalex.org/W2099428832","https://openalex.org/W2134748426","https://openalex.org/W2138081545","https://openalex.org/W2144569597","https://openalex.org/W2163571347","https://openalex.org/W2166709052","https://openalex.org/W2170965707","https://openalex.org/W2248301796","https://openalex.org/W2277730489","https://openalex.org/W6664170058","https://openalex.org/W6680262965"],"related_works":["https://openalex.org/W2736986302","https://openalex.org/W2378383478","https://openalex.org/W2914953897","https://openalex.org/W2743782314","https://openalex.org/W3136375451","https://openalex.org/W2040174473","https://openalex.org/W1974484633","https://openalex.org/W2118186298","https://openalex.org/W2154985965","https://openalex.org/W4296058568"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,18,46],"mechanism":[4,15],"for":[5],"navigating":[6],"complex":[7],"pipe":[8,57],"structures,":[9],"both":[10],"horizontally":[11],"and":[12,64,69],"vertically.":[13],"The":[14,62],"consists":[16],"of":[17,20,27,33,67],"series":[19],"identical":[21],"modules":[22],"interconnected":[23],"by":[24],"two":[25],"degree":[26],"freedom":[28],"active":[29,34],"joints.":[30],"A":[31],"set":[32],"wheels":[35],"on":[36],"each":[37],"module":[38],"provides":[39],"propulsion.":[40],"Horizontal":[41],"motion":[42,51,71],"is":[43,52,72],"achieved":[44,53],"through":[45,54,74],"train-like":[47],"scheme,":[48],"while":[49],"vertical":[50,70],"spanning":[55],"the":[56,60,65],"alternatingly":[58],"with":[59],"modules.":[61],"design":[63],"capability":[66],"horizontal":[68],"validated":[73],"experiments.":[75]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
