{"id":"https://openalex.org/W2169276573","doi":"https://doi.org/10.1109/iros.2013.6696361","title":"An In-pipe robot with multi-axial differential gear mechanism","display_name":"An In-pipe robot with multi-axial differential gear mechanism","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2169276573","doi":"https://doi.org/10.1109/iros.2013.6696361","mag":"2169276573"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5028696361","display_name":"Ho Moon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ho Moon Kim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067824858","display_name":"Jung Seok Suh","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Seok Suh","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003798339","display_name":"Yun Seok Choi","orcid":"https://orcid.org/0000-0002-7075-8277"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yun Seok Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076241938","display_name":"Tran Duc Trong","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tran Duc Trong","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103293416","display_name":"Jachoon Koo","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jachoon Koo","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109832518","display_name":"Sungmoo Ryew","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungmoo Ryew","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5028696361"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":2.1983,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.87360073,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.9944000244140625,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.8486322164535522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7226472496986389},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.642659604549408},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.581030547618866},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5648471117019653},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5002055168151855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46212148666381836},{"id":"https://openalex.org/keywords/mechanism-design","display_name":"Mechanism design","score":0.43912386894226074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43120521306991577},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3615294098854065},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.32980161905288696},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32702890038490295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1790740191936493},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14920830726623535},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06512472033500671}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.8486322164535522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7226472496986389},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.642659604549408},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.581030547618866},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5648471117019653},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5002055168151855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46212148666381836},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.43912386894226074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43120521306991577},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3615294098854065},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.32980161905288696},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32702890038490295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1790740191936493},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14920830726623535},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06512472033500671},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1491559350","https://openalex.org/W1986034240","https://openalex.org/W2020275273","https://openalex.org/W2025113330","https://openalex.org/W2038735569","https://openalex.org/W2070220051","https://openalex.org/W2079769686","https://openalex.org/W2096016147","https://openalex.org/W2101225852","https://openalex.org/W2113642395","https://openalex.org/W2116932110","https://openalex.org/W2131983107","https://openalex.org/W2134748426","https://openalex.org/W2136302929","https://openalex.org/W2144394178","https://openalex.org/W2145209102","https://openalex.org/W2154793009","https://openalex.org/W2154798305","https://openalex.org/W2157893028","https://openalex.org/W2163716908","https://openalex.org/W2164117190","https://openalex.org/W2400639509","https://openalex.org/W3035971198","https://openalex.org/W3146221501","https://openalex.org/W6629239205","https://openalex.org/W6670365583","https://openalex.org/W6674479057","https://openalex.org/W6675177578","https://openalex.org/W6679364692","https://openalex.org/W6680333853","https://openalex.org/W6681668416","https://openalex.org/W6683927024","https://openalex.org/W6712436490","https://openalex.org/W6779605941"],"related_works":["https://openalex.org/W2391063815","https://openalex.org/W2908644825","https://openalex.org/W2940348665","https://openalex.org/W2354648086","https://openalex.org/W2157893028","https://openalex.org/W1980775112","https://openalex.org/W2387572227","https://openalex.org/W2183343380","https://openalex.org/W2051884162","https://openalex.org/W2169276573"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"mechanism":[4,34,85],"for":[5,15,23],"an":[6],"in-pipe":[7],"robot,":[8],"called":[9],"MRINSPECT":[10],"VI":[11],"(Multifunctional":[12],"Robotic":[13],"crawler":[14],"In-pipe":[16],"inspection":[17,25],"VI),":[18],"which":[19],"is":[20,35,51,91],"under":[21],"development":[22],"the":[24,56,67,80,84],"of":[26,37,60,69,83],"gas":[27],"pipelines":[28,61],"with":[29],"150mm":[30],"inside":[31,58],"diameter.":[32],"The":[33],"composed":[36],"multi-axial":[38],"differential":[39],"gear":[40],"mechanism,":[41],"wall":[42],"pressing":[43],"one,":[44],"and":[45,88],"driven":[46],"by":[47,65],"single":[48],"motor.":[49],"It":[50],"designed":[52],"to":[53,55],"adapt":[54],"varying":[57],"geometries":[59],"such":[62],"as":[63],"elbows":[64],"modulating":[66],"velocities":[68],"active":[70],"wheels":[71],"mechanically":[72],"without":[73],"any":[74],"control":[75],"effort.":[76],"In":[77],"this":[78],"paper,":[79],"design":[81],"features":[82],"are":[86],"detailed":[87],"its":[89],"effectiveness":[90],"experimentally":[92],"validated.":[93]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}