{"id":"https://openalex.org/W2771192438","doi":"https://doi.org/10.1109/iros.2017.8206614","title":"Design analysis of TuskBot: Universal stair climbing 4-wheel indoor robot","display_name":"Design analysis of TuskBot: Universal stair climbing 4-wheel indoor robot","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771192438","doi":"https://doi.org/10.1109/iros.2017.8206614","mag":"2771192438"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206614","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/A5045419564","display_name":"JongHun Choe","orcid":"https://orcid.org/0000-0001-7127-1762"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jonghun Choe","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","NAVER LABS, Seongnam, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"NAVER LABS, Seongnam, Republic of Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052542002","display_name":"Ukjin Kwon","orcid":"https://orcid.org/0000-0002-8741-4729"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]},{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ukjin Kwon","raw_affiliation_strings":["NAVER LABS, Seongnam, Republic of Korea","Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS, Seongnam, Republic of Korea","institution_ids":["https://openalex.org/I60922564"]},{"raw_affiliation_string":"Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060580088","display_name":"Moses C. Nah","orcid":"https://orcid.org/0000-0002-9658-9678"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]},{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moses C. Nah","raw_affiliation_strings":["NAVER LABS, Seongnam, Republic of Korea","Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS, Seongnam, Republic of Korea","institution_ids":["https://openalex.org/I60922564"]},{"raw_affiliation_string":"Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002620174","display_name":"Hyeongkeun Kim","orcid":"https://orcid.org/0000-0001-8694-4659"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeongkeun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","NAVER LABS, Seongnam, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"NAVER LABS, Seongnam, Republic of Korea","institution_ids":["https://openalex.org/I60922564"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045419564"],"corresponding_institution_ids":["https://openalex.org/I157485424","https://openalex.org/I60922564"],"apc_list":null,"apc_paid":null,"fwci":0.3824,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.60920545,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6908","last_page":"6914"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9904999732971191,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9902999997138977,"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/stairs","display_name":"Stairs","score":0.9424760341644287},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.900883674621582},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.8681120276451111},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6655018329620361},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5862545371055603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5633995532989502},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.5624001622200012},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5357557535171509},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.41728609800338745},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3761313557624817},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20112848281860352},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15394166111946106},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08379057049751282}],"concepts":[{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.9424760341644287},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.900883674621582},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8681120276451111},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6655018329620361},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5862545371055603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5633995532989502},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.5624001622200012},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5357557535171509},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.41728609800338745},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3761313557624817},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20112848281860352},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15394166111946106},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08379057049751282},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206614","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1585543186","https://openalex.org/W1628152601","https://openalex.org/W2029569297","https://openalex.org/W2053028456","https://openalex.org/W2073706113","https://openalex.org/W2078063607","https://openalex.org/W2085578998","https://openalex.org/W2126670823","https://openalex.org/W2128906226","https://openalex.org/W2129287493","https://openalex.org/W2625280813","https://openalex.org/W6678942657"],"related_works":["https://openalex.org/W2088261536","https://openalex.org/W2332096383","https://openalex.org/W2123208718","https://openalex.org/W3108631018","https://openalex.org/W2551741329","https://openalex.org/W2082442769","https://openalex.org/W2531085753","https://openalex.org/W2628003308","https://openalex.org/W2047426691","https://openalex.org/W2975358643"],"abstract_inverted_index":{"There":[0],"are":[1],"two":[2],"major":[3],"challenges":[4],"in":[5,48,118],"universal":[6,66],"stair":[7,67,88],"climbing:":[8],"stairs":[9,16,73],"without":[10,74],"riser":[11],"and":[12,15,57,76],"with":[13,17,77,102,139],"nose,":[14,78],"various":[18],"dimensions.":[19],"In":[20],"this":[21],"study,":[22],"we":[23],"proposed":[24],"an":[25,36],"indoor":[26,136],"robot":[27,101,137],"platform":[28],"to":[29,34,131],"overcome":[30],"these":[31,103,128],"challenges.":[32],"First,":[33],"create":[35],"angle":[37],"of":[38,50,59,65,90,120,123,135],"attack,":[39],"the":[40,60,79,87,100,121,133],"Tusk,":[41,61],"a":[42,51,62],"passive,":[43],"protruded":[44],"element,":[45],"was":[46,69,83,95,111],"added":[47],"front":[49],"4-wheel":[52],"robot.":[53],"For":[54],"design":[55],"analysis":[56],"optimization":[58],"simplified":[63],"model":[64],"climbing":[68],"applied.":[70,84],"To":[71,85],"accommodate":[72],"risers":[75],"assistive":[80],"track":[81],"mechanism":[82,94],"climb":[86],"regardless":[89],"its":[91],"dimension,":[92],"length-adjustable":[93],"added.":[96],"The":[97,109],"results":[98],"indicated":[99],"mechanisms":[104],"successfully":[105],"overcame":[106],"each":[107],"challenge.":[108],"performance":[110],"better":[112],"than":[113],"most":[114],"conventional":[115],"stair-climbing":[116],"robots":[117],"terms":[119],"range":[122,134],"compatible":[124],"stairs.":[125],"We":[126],"expect":[127],"new":[129],"approaches":[130],"expand":[132],"operation":[138],"minimal":[140],"cost.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}