{"id":"https://openalex.org/W4206402554","doi":"https://doi.org/10.1109/lra.2022.3141655","title":"Detecting Scalable Obstacles Using Soft Sensors in the Body of a Compliant Quadruped","display_name":"Detecting Scalable Obstacles Using Soft Sensors in the Body of a Compliant Quadruped","publication_year":2022,"publication_date":"2022-01-10","ids":{"openalex":"https://openalex.org/W4206402554","doi":"https://doi.org/10.1109/lra.2022.3141655"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3141655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3141655","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5080714854","display_name":"Do\u011fa \u00d6zbek","orcid":"https://orcid.org/0000-0002-8918-0655"},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Do\u011fa \u00d6zbek","raw_affiliation_strings":["Department of Mechanical Engineering, Bilkent University, Ankara, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-8918-0655","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","institution_ids":["https://openalex.org/I168864056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108776937","display_name":"Talip Batuhan Ylmaz","orcid":null},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Talip Batuhan Ylmaz","raw_affiliation_strings":["Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","Mechanical Engineering, Bilkent University, Ankara, Turkey, 06800 (e-mail: batuhan.yilmaz@bilkent.edu.tr)"],"raw_orcid":"https://orcid.org/0000-0003-4051-7517","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","institution_ids":["https://openalex.org/I168864056"]},{"raw_affiliation_string":"Mechanical Engineering, Bilkent University, Ankara, Turkey, 06800 (e-mail: batuhan.yilmaz@bilkent.edu.tr)","institution_ids":["https://openalex.org/I168864056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113979869","display_name":"Mert Ali Ihsan Kaln","orcid":null},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mert Ali \u0130hsan Kaln","raw_affiliation_strings":["Department of Mechanical Engineering, Bilkent University, Ankara, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-9846-0379","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","institution_ids":["https://openalex.org/I168864056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085330733","display_name":"Kutay Senturk","orcid":null},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Kutay \u015eent\u00fcrk","raw_affiliation_strings":["Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","Mechanical Engineering, hsan Doramac Bilkent University, Bursa, Turkey, 16290 (e-mail: kutay.senturk@ug.bilkent.edu.tr)"],"raw_orcid":"https://orcid.org/0000-0001-7235-2724","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","institution_ids":["https://openalex.org/I168864056"]},{"raw_affiliation_string":"Mechanical Engineering, hsan Doramac Bilkent University, Bursa, Turkey, 16290 (e-mail: kutay.senturk@ug.bilkent.edu.tr)","institution_ids":["https://openalex.org/I168864056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025542272","display_name":"Onur \u00d6zcan","orcid":"https://orcid.org/0000-0002-3190-6433"},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Onur \u00d6zcan","raw_affiliation_strings":["Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","Mechanical Engineering Department, Bilkent University, Ankara, Turkey, 06800 (e-mail: onurozcan@bilkent.edu.tr)"],"raw_orcid":"https://orcid.org/0000-0002-3190-6433","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Bilkent University, Ankara, Turkey","institution_ids":["https://openalex.org/I168864056"]},{"raw_affiliation_string":"Mechanical Engineering Department, Bilkent University, Ankara, Turkey, 06800 (e-mail: onurozcan@bilkent.edu.tr)","institution_ids":["https://openalex.org/I168864056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I168864056"],"apc_list":null,"apc_paid":null,"fwci":0.6348,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.60627742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":"2","first_page":"1745","last_page":"1751"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9983000159263611,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9976000189781189,"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/scalability","display_name":"Scalability","score":0.5383267402648926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47259053587913513}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5383267402648926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47259053587913513},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3141655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3141655","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.bilkent.edu.tr:11693/111936","is_oa":false,"landing_page_url":"http://hdl.handle.net/11693/111936","pdf_url":null,"source":{"id":"https://openalex.org/S4306400079","display_name":"Bilkent University Institutional Repository (Bilkent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I168864056","host_organization_name":"Bilkent University","host_organization_lineage":["https://openalex.org/I168864056"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5548314284","display_name":"Dogadan Esinlenen Yumusak Minyat\u00fcr Robot Tasar\u0131m\u0131, \u00dcretimi ve Teorik ve Deneysel Analizi","funder_award_id":"216M195","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W2055548088","https://openalex.org/W2511752147","https://openalex.org/W2515930553","https://openalex.org/W2735680319","https://openalex.org/W2738259110","https://openalex.org/W2913446864","https://openalex.org/W2943828763","https://openalex.org/W2955061729","https://openalex.org/W2999325808","https://openalex.org/W3006383759","https://openalex.org/W3012309598","https://openalex.org/W3018423233","https://openalex.org/W3094212051","https://openalex.org/W3178017103","https://openalex.org/W3179637311","https://openalex.org/W3188501713","https://openalex.org/W6670437885"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2389214306"],"abstract_inverted_index":{"In":[0,52,107,180],"soft":[1,10,69,105,195],"robotics,":[2],"one":[3],"of":[4,97,123,152,156,167,173],"the":[5,16,28,76,91,124,133,138,142,153,171,181,192,204,216,221],"trending":[6],"topics":[7],"is":[8,20,65,81,148,206,218],"using":[9,191],"sensors":[11,29,70,111,196],"to":[12,25,38,67,140],"have":[13],"feedback":[14],"from":[15,41],"robot&#x0027;s":[17,154],"body.":[18,199],"This":[19],"not":[21,209,219],"an":[22,84,187,211],"easy":[23],"process":[24],"accomplish":[26],"since":[27],"are":[30,101,112],"often":[31],"nonlinear,":[32],"so":[33],"researchers":[34],"use":[35,68],"different":[36,128],"methods":[37],"generate":[39],"information":[40],"data":[42],"such":[43],"as":[44,114],"filters,":[45],"machine":[46],"learning":[47],"algorithms,":[48],"and":[49,61,74,117,131,159,176],"optimization":[50],"algorithms.":[51],"this":[53],"paper,":[54],"we":[55],"show":[56],"that,":[57],"with":[58,83,170],"good":[59],"electronic":[60],"mechanical":[62],"design,":[63,110],"it":[64,201],"possible":[66],"for":[71,150],"detecting":[72,157],"obstacles":[73,158,162,169],"distinguishing":[75,160],"scalable":[77,161,207],"obstacles.":[78],"The":[79,120],"demonstration":[80,151],"conducted":[82],"untethered":[85],"miniature,":[86],"soft,":[87],"C-legged":[88,94],"robot,":[89],"M&#x2013;SQuad,":[90],"first":[92],"modular":[93,121],"quadruped":[95],"consisting":[96,166],"three":[98],"modules,":[99],"which":[100],"connected":[102],"by":[103],"four":[104],"sensors.":[106],"M&#x2013;SQuad&#x0027;s":[108],"body":[109],"utilized":[113],"both":[115],"sensing":[116],"structural":[118],"elements.":[119],"design":[122],"M&#x2013;SQuad":[125,184],"allows":[126],"testing":[127],"sensor":[129],"geometries":[130],"replacing":[132],"malfunctioning":[134],"parts":[135],"easily,":[136],"without":[137],"need":[139],"refabricate":[141],"entire":[143],"robot.":[144],"A":[145],"case":[146,182],"study":[147],"introduced":[149],"capability":[155],"in":[163,197],"a":[164],"parkour":[165],"two":[168],"heights":[172],"20":[174],"mm":[175],"150":[177],"mm,":[178],"respectively.":[179],"study,":[183],"can":[185,202],"detect":[186],"obstacle":[188,205,217],"during":[189],"locomotion":[190],"coil-spring":[193],"shaped":[194],"its":[198],"Moreover,":[200],"distinguish":[203],"or":[208],"after":[210],"initial":[212],"climbing":[213],"trial.":[214],"If":[215],"scalable,":[220],"robot":[222],"turns":[223],"back.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
