{"id":"https://openalex.org/W2048938552","doi":"https://doi.org/10.1109/iros.2012.6385757","title":"Development of multi-wheeled snake-like rescue robots with active elastic trunk","display_name":"Development of multi-wheeled snake-like rescue robots with active elastic trunk","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2048938552","doi":"https://doi.org/10.1109/iros.2012.6385757","mag":"2048938552"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100644845/ATD100000413/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108536983","display_name":"Kousuke Suzuki","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kousuke Suzuki","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102244563","display_name":"Atsushi Nakano","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Nakano","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5108536983"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":3.6157,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.91996624,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4602","last_page":"4607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937000274658203,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937000274658203,"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":0.9854999780654907,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9850999712944031,"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/rescue-robot","display_name":"Rescue robot","score":0.7202097177505493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5769309997558594},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5743807554244995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3667910695075989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3243735432624817}],"concepts":[{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.7202097177505493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5769309997558594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5743807554244995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3667910695075989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3243735432624817}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50187342","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100644845","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100644845/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:t2r2.star.titech.ac.jp:50187342","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100644845","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100644845/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2048938552.pdf","grobid_xml":"https://content.openalex.org/works/W2048938552.grobid-xml"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W210067588","https://openalex.org/W1772493338","https://openalex.org/W2058733421","https://openalex.org/W2117867221","https://openalex.org/W2123886187","https://openalex.org/W2127885393","https://openalex.org/W2134753324","https://openalex.org/W2164473601","https://openalex.org/W2277730489","https://openalex.org/W2574334299"],"related_works":["https://openalex.org/W2117893626","https://openalex.org/W2920942130","https://openalex.org/W2807943943","https://openalex.org/W2122871747","https://openalex.org/W2160229054","https://openalex.org/W2807243554","https://openalex.org/W1971295396","https://openalex.org/W1490822742","https://openalex.org/W3114279067","https://openalex.org/W2729462080"],"abstract_inverted_index":{"A":[0],"practical":[1],"robot":[2,18,22,36],"for":[3,45,75,145],"search":[4],"and":[5,26,53,55,84,99,138,143,150],"rescue":[6],"operation":[7],"is":[8,19,107,116],"demanded.":[9],"We":[10,41,69,131],"believe":[11],"that":[12],"one":[13],"of":[14,92,97],"the":[15,46,67,76,120,124,127,156],"most":[16],"promising":[17],"a":[20,24,32,72],"snake-like":[21,35],"with":[23,37,158],"slim":[25],"active":[27,38,43,63,81,88,105,113],"trunk.":[28,40,68],"This":[29],"paper":[30],"proposes":[31],"new":[33,73],"multi-wheeled":[34],"elastic":[39,89,94],"choose":[42],"wheels":[44,64],"propulsive":[47],"device":[48],"due":[49],"to":[50,66,129],"mechanical":[51,141],"robustness":[52],"simplicity,":[54],"increase":[56],"locomotion":[57],"capability":[58],"by":[59,118],"serially":[60],"arranging":[61],"many":[62],"along":[65],"also":[70],"propose":[71],"mechanism":[74],"trunk":[77,90,125],"which":[78],"satisfies":[79],"both":[80],"bending":[82,114],"motion":[83,115],"passive":[85],"compliance.":[86],"The":[87,112,140],"consists":[91],"deformable":[93],"segments":[95],"made":[96],"sponge":[98],"rigid":[100],"(or":[101],"semi-rigid)":[102],"segments,":[103],"where":[104],"wheel":[106],"attached,":[108],"stacked":[109],"in":[110],"layers.":[111],"generated":[117],"pulling":[119],"cables":[121],"passing":[122],"through":[123,155],"from":[126],"head":[128],"tail.":[130],"develop":[132],"three":[133],"prototypes":[134,147],"named":[135],"\u201cSouryu-VII\u201d,":[136],"\u201cSouryu-VIII\u201d":[137],"\u201cSouryu-IX\u201d.":[139],"design":[142],"features":[144],"each":[146],"are":[148,153],"explained":[149],"their":[151],"performances":[152],"evaluated":[154],"experiments":[157],"various":[159],"measures.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}