{"id":"https://openalex.org/W3003445835","doi":"https://doi.org/10.1109/iros40897.2019.8968069","title":"On Model-based Adhesion Control of a Vortex Climbing Robot","display_name":"On Model-based Adhesion Control of a Vortex Climbing Robot","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003445835","doi":"https://doi.org/10.1109/iros40897.2019.8968069","mag":"3003445835"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-314333","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069798208","display_name":"George Andrikopoulos","orcid":"https://orcid.org/0000-0002-9399-7801"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"George Andrikopoulos","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063588127","display_name":"Andreas Papadimitriou","orcid":"https://orcid.org/0000-0002-6415-6982"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Andreas Papadimitriou","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006890113","display_name":"Angelica Brusell","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Angelica Brusell","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics Team, Control Engineering Group,Sweden,SE-97187","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics Team, Control Engineering Group, Lule\u00e5 University of Technology, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069798208"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":1.0914,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.76263326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1460","last_page":"1465"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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":0.9890000224113464,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9764999747276306,"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/payload","display_name":"Payload (computing)","score":0.7457119226455688},{"id":"https://openalex.org/keywords/vortex","display_name":"Vortex","score":0.7240108847618103},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7185278534889221},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5161076784133911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46699538826942444},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.4584813117980957},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4400936961174011},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.41205668449401855},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3948689103126526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3500407338142395},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2710961699485779},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.22858741879463196},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1861453354358673},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1729883849620819},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15915459394454956},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15910178422927856}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7457119226455688},{"id":"https://openalex.org/C140820882","wikidata":"https://www.wikidata.org/wiki/Q732722","display_name":"Vortex","level":2,"score":0.7240108847618103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7185278534889221},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5161076784133911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46699538826942444},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.4584813117980957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4400936961174011},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.41205668449401855},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3948689103126526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3500407338142395},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2710961699485779},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.22858741879463196},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1861453354358673},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1729883849620819},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15915459394454956},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15910178422927856},{"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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8968069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-314333","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-314333","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:zenodo.org:4395493","is_oa":true,"landing_page_url":"https://zenodo.org/record/4395493","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-314333","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-314333","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2091307417","https://openalex.org/W2114747793","https://openalex.org/W2292610109","https://openalex.org/W2295007577","https://openalex.org/W2514236495","https://openalex.org/W2556257719","https://openalex.org/W2563001814","https://openalex.org/W2592771708","https://openalex.org/W2736971840","https://openalex.org/W2741268125","https://openalex.org/W2743085435","https://openalex.org/W2752234735","https://openalex.org/W2809930757","https://openalex.org/W2885682666","https://openalex.org/W2889656350","https://openalex.org/W2898657349","https://openalex.org/W2968962300","https://openalex.org/W6754292007"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W643038845"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"the":[3,29,35,45,66,72,77,93,101,115,118],"adhesion":[4,25,70],"modeling":[5],"and":[6,34,54,80,107,126],"control":[7,60,95],"case":[8],"of":[9,20,44,68,117,128],"a":[10,18,105],"Vortex":[11,31],"Climbing":[12],"Robot":[13],"(VCR)":[14],"is":[15,62,97],"investigated":[16],"against":[17],"surface":[19],"variable":[21],"orientations.":[22],"The":[23,111],"critical":[24],"force":[26],"exerted":[27],"from":[28,50],"implemented":[30],"Actuator":[32],"(VA)":[33],"VCR's":[36],"achievable":[37],"payload":[38],"are":[39],"analyzed":[40],"under":[41],"3-DOF":[42],"rotations":[43],"test":[46],"surface,":[47],"while":[48,71],"extracted":[49],"both":[51],"geometrical":[52],"analysis":[53],"dynamically-simulated":[55],"numerical":[56],"results.":[57],"A":[58],"model-based":[59,94],"scheme":[61,96],"later":[63],"proposed,":[64],"with":[65,100],"goal":[67],"achieving":[69],"VCR":[73,102],"remains":[74],"immobilized,":[75],"limiting":[76],"power":[78],"consumption":[79],"compensating":[81],"for":[82],"disturbances":[83],"(e.g.":[84,144],"moving":[85,108,142],"cables)":[86],"leading":[87],"to":[88],"Center-of-Mass":[89],"(CoM)":[90],"changes.":[91],"Finally,":[92],"experimentally":[98],"evaluated,":[99],"prototype":[103],"on":[104,141],"rotating":[106],"flat":[109],"surface.":[110],"presented":[112],"results":[113],"support":[114],"use":[116],"proposed":[119],"methodology":[120],"in":[121],"climbing":[122],"robots":[123],"targeting":[124],"inspection":[125],"maintenance":[127],"stationary":[129],"surfaces":[130],"(flat,":[131],"curved":[132],"etc.),":[133],"as":[134,136],"well":[135],"future":[137],"robotic":[138],"solutions":[139],"operating":[140],"structures":[143],"ships,":[145],"cranes,":[146],"folding":[147],"bridges).":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
