{"id":"https://openalex.org/W2775550088","doi":"https://doi.org/10.1109/iros.2017.8206298","title":"Using local force measurements to guide construction by distributed climbing robots","display_name":"Using local force measurements to guide construction by distributed climbing robots","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775550088","doi":"https://doi.org/10.1109/iros.2017.8206298","mag":"2775550088"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206298","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056113684","display_name":"Nathan Melenbrink","orcid":"https://orcid.org/0000-0003-2158-3631"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Nathan Melenbrink","raw_affiliation_strings":["Institute for Computational Design and Construction, University of Stuttgart, Germany","Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Computational Design and Construction, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034629759","display_name":"Panagiotis Michalatos","orcid":null},"institutions":[{"id":"https://openalex.org/I1286353243","display_name":"Autodesk (United States)","ror":"https://ror.org/00pkt4594","country_code":"US","type":"company","lineage":["https://openalex.org/I1286353243"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Panagiotis Michalatos","raw_affiliation_strings":["Autodesk, Inc., Boston, MA, USA","Graduate School of Design, Harvard University, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autodesk, Inc., Boston, MA, USA","institution_ids":["https://openalex.org/I1286353243"]},{"raw_affiliation_string":"Graduate School of Design, Harvard University, Cambridge, MA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066959916","display_name":"Paul Kassabian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092993","display_name":"Simpson Strong-Tie (United States)","ror":"https://ror.org/00e5w5x57","country_code":"US","type":"company","lineage":["https://openalex.org/I4210092993"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Kassabian","raw_affiliation_strings":["Simpson Gumpertz & Heger, Waltham, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simpson Gumpertz & Heger, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210092993"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077337147","display_name":"Justin Werfel","orcid":"https://orcid.org/0000-0002-2567-1172"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Werfel","raw_affiliation_strings":["Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2214,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.79199888,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4333","last_page":"4340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.8071683645248413},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6671521067619324},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.6604664921760559},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5570797324180603},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5272423624992371},{"id":"https://openalex.org/keywords/truss","display_name":"Truss","score":0.48531192541122437},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4465743899345398},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4460431933403015},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.442937433719635},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.44176873564720154},{"id":"https://openalex.org/keywords/cantilever","display_name":"Cantilever","score":0.43190380930900574},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.42813369631767273},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41335228085517883},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3965774476528168},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38543790578842163},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33284682035446167},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3295735716819763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21897846460342407},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14979693293571472},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14247256517410278},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.13422968983650208}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8071683645248413},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6671521067619324},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.6604664921760559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5570797324180603},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5272423624992371},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.48531192541122437},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4465743899345398},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4460431933403015},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.442937433719635},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.44176873564720154},{"id":"https://openalex.org/C141354745","wikidata":"https://www.wikidata.org/wiki/Q17227","display_name":"Cantilever","level":2,"score":0.43190380930900574},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.42813369631767273},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41335228085517883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3965774476528168},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38543790578842163},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33284682035446167},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3295735716819763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21897846460342407},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14979693293571472},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14247256517410278},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.13422968983650208},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206298","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5899999737739563,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1997488333","https://openalex.org/W2023364310","https://openalex.org/W2027639262","https://openalex.org/W2032747191","https://openalex.org/W2036613575","https://openalex.org/W2039139447","https://openalex.org/W2070910520","https://openalex.org/W2091994837","https://openalex.org/W2111780222","https://openalex.org/W2168054868","https://openalex.org/W2278657689","https://openalex.org/W2295977886","https://openalex.org/W2605383718","https://openalex.org/W6684592655"],"related_works":["https://openalex.org/W2107125189","https://openalex.org/W2760996480","https://openalex.org/W2303727101","https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2368223165","https://openalex.org/W2357307510","https://openalex.org/W2104720263","https://openalex.org/W1966104931","https://openalex.org/W2286084298"],"abstract_inverted_index":{"Construction":[0],"automation":[1],"has":[2,34],"historically":[3],"been":[4],"driven":[5],"by":[6,69,118],"top-down":[7],"implementations":[8],"of":[9,62,73],"specific":[10],"tasks,":[11],"which":[12],"are":[13,163],"neither":[14],"responsive":[15],"nor":[16],"resilient":[17],"to":[18,37,108,122,138,155],"dynamic":[19],"situations,":[20],"and":[21,141,173],"often":[22],"require":[23],"centralized":[24],"control":[25],"or":[26,50],"human":[27],"supervision.":[28],"Previous":[29],"work":[30],"on":[31,41,77],"robotic":[32],"assembly":[33],"generally":[35],"neglected":[36],"consider":[38,133],"forces":[39],"acting":[40],"the":[42,46,52,60,129,139,152,183],"structure,":[43],"whether":[44],"in":[45,66,89,151,161,166],"completed":[47],"structure":[48],"alone":[49],"throughout":[51,128],"building":[53,81,98,130],"process.":[54],"In":[55],"this":[56],"paper,":[57],"we":[58],"investigate":[59],"utility":[61],"local":[63],"force":[64,185],"measurements":[65,105],"guiding":[67],"construction":[68],"a":[70,78,87,90,95,99,148,169,177],"distributed":[71],"team":[72],"strut-climbing":[74,171],"robots,":[75],"focusing":[76],"scenario":[79],"involving":[80],"an":[82],"unsupported":[83],"span":[84],"out":[85],"across":[86],"gap":[88],"two-dimensional":[91],"vertical":[92],"plane,":[93],"as":[94],"step":[96],"towards":[97],"bridge.":[100],"We":[101,132],"show":[102],"that":[103,111,181],"such":[104,123],"enable":[106],"robots":[107,119],"build":[109],"structures":[110,135],"cantilever":[112],"significantly":[113],"further":[114],"than":[115],"those":[116,142],"built":[117],"without":[120],"access":[121],"information,":[124],"while":[125],"maintainig":[126],"stability":[127],"sequence.":[131],"both":[134],"securely":[136],"anchored":[137],"ground":[140],"resting":[143],"unanchored":[144],"atop":[145],"it,":[146],"using":[147],"counterbalancing":[149],"approach":[150],"latter":[153],"case":[154],"permit":[156],"cantilevering.":[157],"The":[158],"principles":[159],"explored":[160],"simulation":[162],"also":[164],"demonstrated":[165],"hardware,":[167],"including":[168],"prototype":[170],"robot":[172],"truss":[174],"components,":[175],"incorporating":[176],"cost-effective":[178],"sensor":[179],"implementation":[180],"reports":[182],"requisite":[184],"information.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
