{"id":"https://openalex.org/W2909423635","doi":"https://doi.org/10.1109/iros.2018.8593823","title":"Tarzan: Design, Prototyping, and Testing of a Wire-Borne Brachiating Robot","display_name":"Tarzan: Design, Prototyping, and Testing of a Wire-Borne Brachiating Robot","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909423635","doi":"https://doi.org/10.1109/iros.2018.8593823","mag":"2909423635"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5003762988","display_name":"Evan Davies","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Davies","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046617358","display_name":"Adam W. Garlow","orcid":"https://orcid.org/0000-0003-3712-240X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Garlow","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084689056","display_name":"Siavash Farzan","orcid":"https://orcid.org/0000-0001-6415-5560"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siavash Farzan","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010566772","display_name":"Jonathan Rogers","orcid":"https://orcid.org/0000-0001-7196-1691"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Rogers","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110691789","display_name":"Ai-Ping Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ai-Ping Hu","raw_affiliation_strings":["Georgia Tech Research Institute, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Tech Research Institute, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7609","last_page":"7614"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9987000226974487,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/robot","display_name":"Robot","score":0.7660199403762817},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.7109929323196411},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.676593005657196},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6572185754776001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4797597825527191},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.4658687114715576},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.45661965012550354},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4551714062690735},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44326314330101013},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.43527716398239136},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4011209011077881},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39336568117141724},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16434535384178162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14668285846710205}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7660199403762817},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.7109929323196411},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.676593005657196},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6572185754776001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4797597825527191},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.4658687114715576},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.45661965012550354},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4551714062690735},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44326314330101013},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.43527716398239136},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4011209011077881},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39336568117141724},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16434535384178162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14668285846710205},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/7","score":0.8600000143051147,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1992559929","https://openalex.org/W1999378051","https://openalex.org/W1999878986","https://openalex.org/W2009478500","https://openalex.org/W2013232999","https://openalex.org/W2027716970","https://openalex.org/W2028478368","https://openalex.org/W2074619245","https://openalex.org/W2083935370","https://openalex.org/W2084748705","https://openalex.org/W2117145719","https://openalex.org/W2121968116","https://openalex.org/W2134600331","https://openalex.org/W2134849319","https://openalex.org/W2167322920","https://openalex.org/W2891384060","https://openalex.org/W2972977916","https://openalex.org/W3099767173","https://openalex.org/W4253955493","https://openalex.org/W6653659043"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2366394613","https://openalex.org/W2152421698"],"abstract_inverted_index":{"A":[0,81],"novel":[1,37],"brachiating":[2,45],"robot":[3,16,101,149],"design":[4,41,69,150],"is":[5,17,85,141,151],"presented":[6],"for":[7,70,89,137,158],"the":[8,49,104,129,147],"purpose":[9],"of":[10,19,32,92,160],"traversing":[11],"elevated":[12],"wire":[13,24,161],"networks.":[14],"The":[15],"capable":[18],"moving":[20],"along":[21,109],"a":[22,33,66,90,99,110,118,138,155],"single":[23,111,139],"and":[25,54,58,74,113,131],"between":[26,128],"parallel":[27],"wires,":[28],"thereby":[29],"enabling":[30],"traversal":[31,159],"two-dimensional":[34],"space.":[35],"Several":[36],"features":[38],"distinguish":[39],"this":[40],"compared":[42],"to":[43,51,53,153],"previous":[44],"robots.":[46],"These":[47],"include":[48],"ability":[50],"transition":[52],"from":[55],"both":[56],"\u201crope\u201d":[57],"\u201cladder\u201d":[59],"brachiation":[60],"modes":[61],"through":[62],"an":[63],"integrated":[64],"wrist,":[65],"locking":[67],"hand":[68],"minimal":[71],"power":[72],"consumption,":[73],"distributed":[75],"electronics":[76],"packages":[77],"that":[78,103],"communicate":[79],"wirelessly.":[80],"payload":[82],"mounting":[83],"point":[84],"installed,":[86],"offering":[87],"space":[88],"variety":[91],"remote":[93],"sensing":[94],"packages.":[95],"Experimental":[96],"results":[97],"using":[98,143],"prototype":[100],"demonstrate":[102],"system":[105],"can":[106,114],"reliably":[107,116],"brachiate":[108],"wire,":[112],"also":[115],"perform":[117],"swing-up":[119],"maneuver":[120],"after":[121],"failed":[122],"swing":[123,140],"attempts":[124],"or":[125],"when":[126],"transitioning":[127],"rope":[130],"ladder":[132],"locomotion":[133],"modes.":[134],"Energy":[135],"expenditure":[136],"quantified":[142],"experimental":[144],"data.":[145],"Overall,":[146],"proposed":[148],"shown":[152],"provide":[154],"promising":[156],"platform":[157],"networks":[162],"in":[163],"two":[164],"dimensions.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
