{"id":"https://openalex.org/W2908579479","doi":"https://doi.org/10.1109/iros.2018.8593872","title":"A Differential Elastic Joint for Multi-linked Pipeline Inspection Robots","display_name":"A Differential Elastic Joint for Multi-linked Pipeline Inspection Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908579479","doi":"https://doi.org/10.1109/iros.2018.8593872","mag":"2908579479"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593872","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/A5073931012","display_name":"Atsushi Kakogawa","orcid":"https://orcid.org/0000-0003-3543-1284"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Kakogawa","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, JAPAN","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, JAPAN","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10868","display_name":"Soft Robotics and Applications","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9925000071525574,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7282527685165405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.720962643623352},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.6626406311988831},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6605616807937622},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5758761763572693},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5357156991958618},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.5256379842758179},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5021123886108398},{"id":"https://openalex.org/keywords/tractive-force","display_name":"Tractive force","score":0.4882080852985382},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.47767409682273865},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4493362307548523},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4311041831970215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4230324625968933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42107123136520386},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37639859318733215},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.24510371685028076},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1348312795162201},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13333576917648315},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.10123974084854126}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7282527685165405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.720962643623352},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6626406311988831},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6605616807937622},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5758761763572693},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5357156991958618},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5256379842758179},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5021123886108398},{"id":"https://openalex.org/C32520587","wikidata":"https://www.wikidata.org/wiki/Q2142522","display_name":"Tractive force","level":2,"score":0.4882080852985382},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.47767409682273865},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4493362307548523},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4311041831970215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4230324625968933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42107123136520386},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37639859318733215},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.24510371685028076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1348312795162201},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13333576917648315},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.10123974084854126},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593872","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","display_name":"Affordable and clean energy","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W110996410","https://openalex.org/W153820523","https://openalex.org/W1593804296","https://openalex.org/W1763712150","https://openalex.org/W2002392565","https://openalex.org/W2011090719","https://openalex.org/W2025208539","https://openalex.org/W2043583726","https://openalex.org/W2070468014","https://openalex.org/W2075978570","https://openalex.org/W2078916289","https://openalex.org/W2111253117","https://openalex.org/W2117503495","https://openalex.org/W2120227089","https://openalex.org/W2120606903","https://openalex.org/W2126728198","https://openalex.org/W2154798305","https://openalex.org/W2158641070","https://openalex.org/W2576961325","https://openalex.org/W2579265282","https://openalex.org/W2749462363","https://openalex.org/W2766718428","https://openalex.org/W6669642724"],"related_works":["https://openalex.org/W2775620166","https://openalex.org/W2393623725","https://openalex.org/W2750562350","https://openalex.org/W3109885014","https://openalex.org/W2591856290","https://openalex.org/W2419336762","https://openalex.org/W2570175137","https://openalex.org/W2070657376","https://openalex.org/W190296959","https://openalex.org/W2742616977"],"abstract_inverted_index":{"This":[0],"study":[1],"presents":[2],"a":[3,37,47,83,88],"differential":[4,84,108],"elastic":[5,44,85,109],"joint":[6,81],"for":[7,24,91,114],"use":[8,28],"in":[9,29,58],"multi-linked":[10],"pipeline":[11],"inspection":[12],"robots.":[13],"Active":[14],"joints":[15],"to":[16,27,55,70,129],"stretch":[17],"against":[18],"the":[19,93,97,100,104,107,118,122],"pipe":[20],"wall":[21],"are":[22,68],"essential":[23],"adapting":[25],"robots":[26],"vertical":[30],"pipes":[31],"and":[32,64,95,117],"slippery":[33],"inner":[34],"surfaces":[35],"where":[36],"large":[38],"traction":[39],"force":[40],"is":[41,112],"required.":[42],"Series":[43],"actuators":[45],"with":[46,87],"high":[48],"reduction":[49],"system":[50],"have":[51],"typically":[52],"been":[53],"used":[54],"sense":[56],"force/torque":[57],"such":[59],"applications.":[60],"However,":[61],"compactness,":[62],"power,":[63],"bi-directional":[65],"series":[66],"elasticity":[67],"required":[69],"conduct":[71],"in-pipe":[72],"inspections.":[73],"In":[74],"this":[75],"study,":[76],"we":[77,126],"propose":[78],"an":[79],"active":[80],"using":[82],"actuator":[86,110],"rubber":[89,123],"spring":[90,124],"decreasing":[92],"size":[94],"increasing":[96],"stiffness":[98],"of":[99,106,121],"joint.":[101],"After":[102],"describing":[103],"configuration":[105],"that":[111],"suitable":[113],"our":[115],"robot":[116],"design":[119],"theory":[120],"cross-section,":[125],"conducted":[127],"experiments":[128],"verify":[130],"its":[131],"torque":[132],"property.":[133]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
