{"id":"https://openalex.org/W2771265794","doi":"https://doi.org/10.1109/iros.2017.8206097","title":"Development of a 20-m-long Giacometti arm with balloon body based on kinematic model with air resistance","display_name":"Development of a 20-m-long Giacometti arm with balloon body based on kinematic model with air resistance","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771265794","doi":"https://doi.org/10.1109/iros.2017.8206097","mag":"2771265794"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/CTT100756051/ATD100000413/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113581964","display_name":"Masashi Takeichi","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":"Masashi Takeichi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"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":"Koichi Suzumori","raw_affiliation_strings":["Graduate major in Mechanical Engineering, Tokyo Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Graduate major in Mechanical Engineering, Tokyo Institute of Technology","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":["Graduate major in Mechanical Engineering, Tokyo Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Graduate major in Mechanical Engineering, Tokyo Institute of Technology","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"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":"Hiroyuki Nabae","raw_affiliation_strings":["Graduate major in Mechanical Engineering, Tokyo Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Graduate major in Mechanical Engineering, Tokyo Institute of Technology","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5113581964"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":3.0181,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.91535596,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2710","last_page":"2716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9959999918937683,"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/robotic-arm","display_name":"Robotic arm","score":0.8107510805130005},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7511388063430786},{"id":"https://openalex.org/keywords/balloon","display_name":"Balloon","score":0.6920380592346191},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6087464690208435},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5492876768112183},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49976181983947754},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48586505651474},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4372738301753998},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39228272438049316},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36123448610305786},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25233349204063416},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13091138005256653},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.12274840474128723},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07840433716773987}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.8107510805130005},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7511388063430786},{"id":"https://openalex.org/C139059822","wikidata":"https://www.wikidata.org/wiki/Q183951","display_name":"Balloon","level":2,"score":0.6920380592346191},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6087464690208435},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5492876768112183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49976181983947754},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48586505651474},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4372738301753998},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39228272438049316},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36123448610305786},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25233349204063416},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13091138005256653},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.12274840474128723},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07840433716773987},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50396301","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100756051","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100756051/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:50396301","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100756051","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100756051/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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G3195708705","display_name":null,"funder_award_id":"15K13907","funder_id":"https://openalex.org/F4320320912","funder_display_name":"Ministry of Education, Culture, Sports, Science and Technology"},{"id":"https://openalex.org/G3459562248","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G4975420076","display_name":"Feasibility study on Giacometti Robotics","funder_award_id":"15K13907","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G6470242744","display_name":null,"funder_award_id":"MEXT KAKENHI","funder_id":"https://openalex.org/F4320320912","funder_display_name":"Ministry of Education, Culture, Sports, Science and Technology"},{"id":"https://openalex.org/G648429869","display_name":null,"funder_award_id":"MEXT KAKENHI","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7599130655","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320912","funder_display_name":"Ministry of Education, Culture, Sports, Science and Technology"},{"id":"https://openalex.org/G8430481527","display_name":null,"funder_award_id":"Number","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2771265794.pdf","grobid_xml":"https://content.openalex.org/works/W2771265794.grobid-xml"},"referenced_works_count":11,"referenced_works":["https://openalex.org/W1982286666","https://openalex.org/W2073142361","https://openalex.org/W2102095685","https://openalex.org/W2121660170","https://openalex.org/W2136901311","https://openalex.org/W2145943492","https://openalex.org/W2519125098","https://openalex.org/W2576601164","https://openalex.org/W2738631150","https://openalex.org/W4235050348","https://openalex.org/W6675386681"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"As":[0],"a":[1,13,74,138,164],"part":[2],"of":[3,10,69,129,141],"our":[4],"research":[5],"on":[6],"several":[7],"different":[8],"types":[9],"Giacometti":[11,25,35,117,144],"robots,":[12],"20-m-long,":[14,121],"considerably":[15],"light,":[16],"and":[17,45,107,125,158],"simple":[18],"robot":[19],"arm,":[20,26,135,145,157],"referred":[21],"to":[22,86],"as":[23,66],"the":[24,34,51,67,78,142,148,153,156],"is":[27,37,59,84,101,120],"developed":[28],"in":[29,147],"this":[30,112,133],"study.":[31],"Even":[32],"though":[33],"arm":[36,118],"not":[38],"suitable":[39],"for":[40,61],"precise":[41],"positioning,":[42],"rapid":[43],"motion,":[44],"high":[46],"load":[47],"capacity,":[48],"which":[49,119],"are":[50],"aspects":[52],"most":[53],"conventional":[54],"robots":[55],"focus":[56],"on,":[57],"it":[58,83,92],"designed":[60,85,115],"extremely":[62],"specific":[63],"purposes":[64],"such":[65],"inspection":[68],"otherwise":[70],"unreachable":[71],"regions":[72],"using":[73,103,155],"small":[75],"camera":[76],"at":[77,163],"arm's":[79],"tip.":[80],"In":[81,111],"addition,":[82],"be":[87],"essentially":[88],"safe":[89],"even":[90],"if":[91],"falls":[93],"down":[94],"or":[95],"hits":[96],"an":[97],"object.":[98],"This":[99],"aspect":[100],"realized":[102],"helium-filled":[104],"balloon":[105],"bodies":[106],"thin":[108],"pneumatic":[109],"muscles.":[110],"paper,":[113],"we":[114,136],"new":[116],"weighs":[122],"940":[123],"g,":[124],"has":[126],"20":[127],"degrees":[128],"freedom.":[130],"To":[131],"realize":[132],"long":[134],"derived":[137],"kinematic":[139],"model":[140,154],"20-m-long":[143],"factoring":[146],"air":[149],"resistance.":[150],"We":[151],"verified":[152],"its":[159],"utility":[160],"was":[161],"confirmed":[162],"mock-up":[165],"facility.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}