{"id":"https://openalex.org/W2139667160","doi":"https://doi.org/10.1109/iros.2011.6095172","title":"A rapidly reconfigurable robot for assistance in urban search and rescue","display_name":"A rapidly reconfigurable robot for assistance in urban search and rescue","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2139667160","doi":"https://doi.org/10.1109/iros.2011.6095172","mag":"2139667160"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095172","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5005872346","display_name":"Alexander Hunt","orcid":"https://orcid.org/0000-0002-3820-4821"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alexander J. Hunt","raw_affiliation_strings":["Mechanical and AeroSpace Engineering Department, Case Western Reserve University, Cleveland, OH, USA","Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland, OH 44106 USA"],"affiliations":[{"raw_affiliation_string":"Mechanical and AeroSpace Engineering Department, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland, OH 44106 USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063731382","display_name":"Richard Bachmann","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard J. Bachmann","raw_affiliation_strings":["Mechanical and AeroSpace Engineering Department, Case Western Reserve University, Cleveland, OH, USA","Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland, OH 44106 USA"],"affiliations":[{"raw_affiliation_string":"Mechanical and AeroSpace Engineering Department, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland, OH 44106 USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048150326","display_name":"Robin R. Murphy","orcid":"https://orcid.org/0000-0003-0774-4312"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robin R. Murphy","raw_affiliation_strings":["Computer Science and Engineering Department, Texas A&M, College Station, TX, USA","Computer Science and Engineering Department, Texas A&M, College Station, 77843 USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, Texas A&M, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Computer Science and Engineering Department, Texas A&M, College Station, 77843 USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065352683","display_name":"Roger D. Quinn","orcid":"https://orcid.org/0000-0002-8504-7160"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roger D. Quinn","raw_affiliation_strings":["Mechanical and AeroSpace Engineering Department, Case Western Reserve University, Cleveland, OH, USA","Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland, OH 44106 USA"],"affiliations":[{"raw_affiliation_string":"Mechanical and AeroSpace Engineering Department, Case Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland, OH 44106 USA","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5005872346"],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":2.073,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.86862302,"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":"209","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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":0.9796000123023987,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9739999771118164,"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":0.7152915000915527},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.672039806842804},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.6429961919784546},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6040374040603638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5766781568527222},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5458163022994995},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.4736824333667755},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.44172945618629456},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4315975308418274},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.41550391912460327},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4118036925792694},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.32652074098587036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29359138011932373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2614968419075012},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.18219321966171265},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08083805441856384},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07315421104431152}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7152915000915527},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.672039806842804},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.6429961919784546},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6040374040603638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5766781568527222},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5458163022994995},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.4736824333667755},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.44172945618629456},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4315975308418274},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.41550391912460327},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4118036925792694},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.32652074098587036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29359138011932373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2614968419075012},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.18219321966171265},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08083805441856384},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07315421104431152},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6095172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095172","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1507418669","https://openalex.org/W1532325173","https://openalex.org/W1822001265","https://openalex.org/W1972157510","https://openalex.org/W2014019964","https://openalex.org/W2025013846","https://openalex.org/W2032858607","https://openalex.org/W2099660316","https://openalex.org/W2110339875","https://openalex.org/W2163635681"],"related_works":["https://openalex.org/W2117893626","https://openalex.org/W1488897159","https://openalex.org/W2065470608","https://openalex.org/W4206733587","https://openalex.org/W2543684242","https://openalex.org/W2367640936","https://openalex.org/W257921636","https://openalex.org/W2388951953","https://openalex.org/W1979426194","https://openalex.org/W341083634"],"abstract_inverted_index":{"A":[0,134],"robot":[1,19,27,111],"is":[2,22,51,112,137],"being":[3,138],"developed":[4,139],"for":[5,149],"urban":[6],"search":[7],"and":[8,35,45,48,88,125],"rescue":[9],"missions.":[10],"USAR":[11],"Whegs\u2122":[12,18,26,62],"implements":[13],"several":[14],"new":[15],"features":[16],"into":[17],"design.":[20],"It":[21,31],"the":[23,36,53,67,89,108],"first":[24,54],"quadruped":[25],"of":[28,56,70],"this":[29],"scale.":[30],"uses":[32],"differential":[33],"steering":[34],"user":[37],"can":[38,82,116,126],"rapidly":[39],"change":[40],"its":[41,123,132],"running":[42,80],"gear":[43,81],"to":[44,75,99,140,143],"from":[46],"tracks":[47],"wheel-legs.":[49,133],"This":[50],"also":[52],"implementation":[55],"carbon":[57],"fiber":[58],"wheel-legs":[59,148],"on":[60,122,147,152],"a":[61,97],"vehicle.":[63],"The":[64,79,110],"carbon-fiber":[65],"reduces":[66],"mass":[68],"moment":[69],"inertia":[71],"eight":[72,105],"times":[73],"compared":[74],"previous":[76],"aluminum":[77],"designs.":[78],"be":[83,100],"changed":[84],"in":[85],"30":[86],"seconds":[87],"resulting":[90],"connections":[91],"are":[92],"secure.":[93],"GeoSystems":[94],"Zippermast":[95],"allows":[96],"camera":[98],"deployed":[101],"as":[102,104],"high":[103],"feet":[106],"above":[107],"robot.":[109],"47.6":[113],"cm":[114,129],"long,":[115],"travel":[117],"1.9":[118],"meters":[119],"per":[120],"second":[121],"tracks,":[124],"climb":[127],"15":[128],"obstacles":[130],"using":[131],"two-speed":[135],"transmission":[136],"permit":[141],"it":[142],"run":[144],"more":[145],"slowly":[146],"better":[150],"control":[151],"irregular":[153],"terrain.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
