{"id":"https://openalex.org/W3129626441","doi":"https://doi.org/10.1109/iros45743.2020.9341194","title":"A Model for Optimising the Size of Climbing Robots for Navigating Truss Structures","display_name":"A Model for Optimising the Size of Climbing Robots for Navigating Truss Structures","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129626441","doi":"https://doi.org/10.1109/iros45743.2020.9341194","mag":"3129626441"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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://hdl.handle.net/10453/146280","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006498749","display_name":"Wesley Au","orcid":"https://orcid.org/0000-0003-3101-2322"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Wesley Au","raw_affiliation_strings":["Faculty of Engineering and IT, Centre for Autonomous Systems, University of Technology Sydney, Ultimo New South Wales, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and IT, Centre for Autonomous Systems, University of Technology Sydney, Ultimo New South Wales, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049785622","display_name":"Tomoki Sakaue","orcid":null},"institutions":[{"id":"https://openalex.org/I119530710","display_name":"TEPCO (Japan)","ror":"https://ror.org/01sgzrz83","country_code":"JP","type":"company","lineage":["https://openalex.org/I119530710"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoki Sakaue","raw_affiliation_strings":["Tokyo Electric Power Company Holdings, Inc., Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Electric Power Company Holdings, Inc., Yokohama, Japan","institution_ids":["https://openalex.org/I119530710"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035571131","display_name":"Dikai Liu","orcid":"https://orcid.org/0000-0002-1581-5582"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dikai Liu","raw_affiliation_strings":["Faculty of Engineering and IT, Centre for Autonomous Systems, University of Technology Sydney, Ultimo New South Wales, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and IT, Centre for Autonomous Systems, University of Technology Sydney, Ultimo New South Wales, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006498749"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16396193,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"3754","last_page":"3760"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9973999857902527,"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":0.9973999857902527,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996999979019165,"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":0.9962000250816345,"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/truss","display_name":"Truss","score":0.8555567264556885},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7465892434120178},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6959956288337708},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5636587142944336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5247771143913269},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4686258137226105},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.43261200189590454},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3627493977546692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24904268980026245},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21593177318572998},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0776468813419342}],"concepts":[{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.8555567264556885},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7465892434120178},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6959956288337708},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5636587142944336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5247771143913269},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4686258137226105},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.43261200189590454},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3627493977546692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24904268980026245},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21593177318572998},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0776468813419342},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9341194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/146280","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/146280","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/146280","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/146280","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1573240230","https://openalex.org/W1585121301","https://openalex.org/W1845008526","https://openalex.org/W1910584717","https://openalex.org/W1969570716","https://openalex.org/W1981371731","https://openalex.org/W2005805981","https://openalex.org/W2013486256","https://openalex.org/W2020751555","https://openalex.org/W2026043553","https://openalex.org/W2027716970","https://openalex.org/W2060672380","https://openalex.org/W2077730979","https://openalex.org/W2081055262","https://openalex.org/W2090252028","https://openalex.org/W2102513453","https://openalex.org/W2110379455","https://openalex.org/W2113723303","https://openalex.org/W2135918588","https://openalex.org/W2136685771","https://openalex.org/W2145828929","https://openalex.org/W2155497993","https://openalex.org/W2158135966","https://openalex.org/W2327222415","https://openalex.org/W2329730599","https://openalex.org/W2511752147","https://openalex.org/W4235469158","https://openalex.org/W4256197727","https://openalex.org/W6680557720"],"related_works":["https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2521924929","https://openalex.org/W2392978157","https://openalex.org/W2955404263","https://openalex.org/W2364780071","https://openalex.org/W3212815067","https://openalex.org/W2055188469","https://openalex.org/W2365888646","https://openalex.org/W4313245278"],"abstract_inverted_index":{"Truss":[0],"structures":[1,38],"can":[2],"be":[3],"found":[4],"in":[5,66,78,172],"many":[6],"buildings":[7],"and":[8,14,47,113],"civil":[9],"infrastructure":[10],"such":[11,50,126],"as":[12,17,122],"bridges":[13],"towers.":[15],"But":[16],"these":[18,37,170],"architectures":[19],"age,":[20],"their":[21],"maintenance":[22,40],"is":[23,41,57,74,89,107,119],"required":[24],"to":[25,53,150],"keep":[26],"them":[27],"structurally":[28],"sound.":[29],"A":[30,82],"legged":[31],"robotic":[32],"solution":[33,129],"capable":[34],"of":[35,49,70,85,134,144,157,175],"climbing":[36,115,146],"for":[39,76,96],"sought,":[42],"but":[43],"determining":[44],"the":[45,68,93,102,131,135,152,158,162,166],"size":[46,69,112,133],"shape":[48],"a":[51,58,64,71,79,86,110,173],"robot":[52,73,136],"maximise":[54],"structure":[55,88,105],"coverage":[56,77,106],"challenging":[59],"task.":[60],"This":[61,118],"paper":[62],"proposes":[63],"model":[65,167],"which":[67,91],"multi-legged":[72],"optimised":[75],"truss":[80,87,104,176],"structure.":[81],"detailed":[83],"representation":[84],"presented,":[90],"forms":[92],"novel":[94],"framework":[95],"constraint":[97],"modelling.":[98],"With":[99],"this":[100],"framework,":[101],"overall":[103],"modelled,":[108],"given":[109],"robot's":[111],"its":[114,128],"performance":[116],"constraints.":[117,140],"set":[120],"up":[121],"an":[123],"optimisation":[124],"problem,":[125],"that":[127,137,165],"represents":[130],"optimum":[132],"satisfies":[138],"all":[139],"Three":[141],"case":[142],"studies":[143],"practical":[145],"applications":[147],"are":[148],"conducted":[149],"verify":[151],"model.":[153],"By":[154],"intuitive":[155],"analysis":[156],"model's":[159],"output":[160],"data,":[161],"results":[163],"show":[164],"accurately":[168],"applies":[169],"constraints":[171],"variety":[174],"structures.":[177]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}