{"id":"https://openalex.org/W4283822920","doi":"https://doi.org/10.1109/iros47612.2022.9981555","title":"SCALER: A Tough Versatile Quadruped Free-Climber Robot","display_name":"SCALER: A Tough Versatile Quadruped Free-Climber Robot","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4283822920","doi":"https://doi.org/10.1109/iros47612.2022.9981555"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981555","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5101587888","display_name":"Yusuke Tanaka","orcid":"https://orcid.org/0000-0002-4699-6283"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yusuke Tanaka","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085353704","display_name":"Yuki Shirai","orcid":"https://orcid.org/0000-0003-4729-4256"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuki Shirai","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027410770","display_name":"Xuan Lin","orcid":"https://orcid.org/0000-0001-7216-1821"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuan Lin","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075407536","display_name":"Alexander Schperberg","orcid":"https://orcid.org/0000-0002-3746-1105"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Schperberg","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061044640","display_name":"Hayato Kato","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hayato Kato","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006293410","display_name":"Alexander Swerdlow","orcid":"https://orcid.org/0000-0002-7078-8783"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Swerdlow","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087992950","display_name":"Naoya Kumagai","orcid":"https://orcid.org/0000-0003-1843-2592"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naoya Kumagai","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101587888"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":10.2597,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.99070604,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5632","last_page":"5639"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9980999827384949,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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/payload","display_name":"Payload (computing)","score":0.8102824091911316},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.7882763147354126},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7616249322891235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6309405565261841},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49469801783561707},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.4396897852420807},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43893057107925415},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.42582231760025024},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.41066974401474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3267355263233185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2419099509716034},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16676339507102966},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15370988845825195},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1412070393562317}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8102824091911316},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.7882763147354126},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7616249322891235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6309405565261841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49469801783561707},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.4396897852420807},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43893057107925415},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.42582231760025024},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.41066974401474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3267355263233185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2419099509716034},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16676339507102966},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15370988845825195},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1412070393562317},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981555","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W262544154","https://openalex.org/W1666253975","https://openalex.org/W1979445726","https://openalex.org/W2020751555","https://openalex.org/W2023820973","https://openalex.org/W2037983964","https://openalex.org/W2096780166","https://openalex.org/W2124064924","https://openalex.org/W2125095347","https://openalex.org/W2138419444","https://openalex.org/W2152444335","https://openalex.org/W2162207896","https://openalex.org/W2211080258","https://openalex.org/W2295130897","https://openalex.org/W2738173023","https://openalex.org/W2738870766","https://openalex.org/W2789286234","https://openalex.org/W2909229154","https://openalex.org/W2909331752","https://openalex.org/W2910436940","https://openalex.org/W2918647112","https://openalex.org/W2967118761","https://openalex.org/W3033253270","https://openalex.org/W3087904604","https://openalex.org/W3106426148","https://openalex.org/W3109424835","https://openalex.org/W3189208719","https://openalex.org/W3204371531","https://openalex.org/W4200179664","https://openalex.org/W4200353447","https://openalex.org/W4250058668","https://openalex.org/W4312271328"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W2352457968","https://openalex.org/W2781161971","https://openalex.org/W2730901724"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"SCALER,":[3],"a":[4,88,134],"quadrupedal":[5],"robot":[6],"that":[7,31],"demonstrates":[8],"climbing":[9,72],"on":[10,17,46,99,121,127],"bouldering":[11,109],"walls,":[12],"over-hangs,":[13],"ceilings":[14],"and":[15,38,62,102,124,143,146],"trotting":[16],"the":[18,24,35,41,47,77,81,100,118,122,128],"ground.":[19,48],"SCALER":[20,56,82,86,119],"is":[21],"one":[22,39],"of":[23,27,40,93,117],"first":[25],"high-degrees":[26],"freedom":[28],"four-limbed":[29],"robots":[30],"can":[32],"free-climb":[33],"under":[34],"Earth's":[36],"gravity":[37],"most":[42],"mechanically":[43,135],"efficient":[44],"quadrupeds":[45],"Where":[49],"other":[50],"state-of-the-art":[51],"climbers":[52],"specialize":[53],"in":[54,108],"climbing,":[55],"promises":[57],"practical":[58],"free-climbing":[59],"with":[60],"payload":[61,78],"ground":[63,101,123],"locomotion,":[64],"which":[65],"realizes":[66],"true":[67],"versatile":[68],"mobility.":[69],"A":[70],"new":[71],"gait,":[73,75],"SKATE":[74],"increases":[76],"by":[79],"utilizing":[80],"body":[83],"linkage":[84],"mechanism.":[85],"achieves":[87],"maximum":[89],"normalized":[90],"locomotion":[91],"speed":[92],"1.87":[94],"/s,":[95],"or":[96,105],"0.56":[97],"m/s":[98],"1.0":[103],"/min,":[104],"0.35":[106],"m/min":[107],"wall":[110],"climbing.":[111],"Payload":[112],"capacity":[113],"reaches":[114],"233":[115],"%":[116,126],"weight":[120],"35":[125],"vertical":[129],"wall.":[130],"Our":[131],"GOAT":[132],"gripper,":[133,139],"adaptable":[136],"underactuated":[137],"two-finger":[138],"successfully":[140],"grasps":[141],"convex":[142],"non-convex":[144],"objects":[145],"supports":[147],"SCALER.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}
