{"id":"https://openalex.org/W2128697438","doi":"https://doi.org/10.1109/robio.2010.5723553","title":"Wall climbing robot in narrow space with pantograph-type structure","display_name":"Wall climbing robot in narrow space with pantograph-type structure","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2128697438","doi":"https://doi.org/10.1109/robio.2010.5723553","mag":"2128697438"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5061210625","display_name":"Anna Ariga","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Anna Ariga","raw_affiliation_strings":["Waseda University, Shinjuku, Tokyo, Japan","Waseda University, 41-5-2F-03B, 17, Kikui-cho, Shinjuku-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda University, 41-5-2F-03B, 17, Kikui-cho, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016962276","display_name":"Tsukasa Kobayashi","orcid":"https://orcid.org/0000-0002-9871-169X"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsukasa Kobayashi","raw_affiliation_strings":["Waseda University, Shinjuku, Tokyo, Japan","Waseda University, 41-5-2F-03B, 17, Kikui-cho, Shinjuku-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda University, 41-5-2F-03B, 17, Kikui-cho, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071432683","display_name":"Tomoyuki Yamaguchi","orcid":"https://orcid.org/0000-0003-3426-2079"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoyuki Yamaguchi","raw_affiliation_strings":["Waseda University, Shinjuku, Tokyo, Japan","Waseda University, 41-5-2F-03B, 17, Kikui-cho, Shinjuku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda University, 41-5-2F-03B, 17, Kikui-cho, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004364082","display_name":"Shuji Hashimoto","orcid":"https://orcid.org/0000-0003-2080-7795"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuji Hashimoto","raw_affiliation_strings":["Waseda University, Shinjuku, Tokyo, Japan","Waseda University, 55N-4F-10A, 3-4-1 Okubo, Shinjuku-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda University, 55N-4F-10A, 3-4-1 Okubo, Shinjuku-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061210625"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.8445,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.75559628,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9980000257492065,"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":0.9980000257492065,"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":0.9934999942779541,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.967199981212616,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/pantograph","display_name":"Pantograph","score":0.8524236679077148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7402915358543396},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6093711853027344},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.596187949180603},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5074915289878845},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.4762026071548462},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47578465938568115},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4467674195766449},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41490280628204346},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32551467418670654},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29886871576309204},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24009746313095093},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19777512550354004},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1906026005744934},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.06335240602493286}],"concepts":[{"id":"https://openalex.org/C20756127","wikidata":"https://www.wikidata.org/wiki/Q722757","display_name":"Pantograph","level":2,"score":0.8524236679077148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7402915358543396},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6093711853027344},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.596187949180603},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5074915289878845},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.4762026071548462},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47578465938568115},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4467674195766449},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41490280628204346},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32551467418670654},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29886871576309204},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24009746313095093},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19777512550354004},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1906026005744934},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.06335240602493286},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2062966171","https://openalex.org/W2087396487","https://openalex.org/W2103688927","https://openalex.org/W2120264618","https://openalex.org/W2124064924","https://openalex.org/W2124976073","https://openalex.org/W2127250147","https://openalex.org/W2127313561","https://openalex.org/W2127674708","https://openalex.org/W2156398583","https://openalex.org/W2157893028","https://openalex.org/W6678398897","https://openalex.org/W6683235981"],"related_works":["https://openalex.org/W2573375108","https://openalex.org/W4252833549","https://openalex.org/W2378529747","https://openalex.org/W4387011711","https://openalex.org/W2372731345","https://openalex.org/W2057677727","https://openalex.org/W2360526382","https://openalex.org/W2379657325","https://openalex.org/W2136457064","https://openalex.org/W2787802451"],"abstract_inverted_index":{"Extensive":[0],"developments":[1],"have":[2],"been":[3],"in":[4,6,17,56,71,95],"progress":[5],"recent":[7],"years":[8],"to":[9,24,80,92,97],"make":[10],"robots":[11],"that":[12,53,73],"can":[13,54],"move":[14,55],"and":[15,30,46,68,120],"inspect":[16],"narrow":[18,41,58],"space":[19,42],"which":[20],"is":[21,62],"not":[22],"accessible":[23],"human":[25],"such":[26],"as":[27],"sewer":[28],"pipe,":[29],"small":[31],"opening":[32],"among":[33],"buildings.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38],"focus":[39],"on":[40],"between":[43,72],"two":[44,65],"walls":[45,79],"introduce":[47],"a":[48,69],"novel":[49],"wall":[50],"climbing":[51],"robot":[52,61],"vertical":[57],"space.":[59],"This":[60],"composed":[63],"of":[64,88,101,110],"driving":[66],"modules":[67],"pantograph":[70,94],"generates":[74],"pushing":[75,102,112],"force":[76,113],"against":[77],"the":[78,93,108,111,116,122],"prevent":[81],"from":[82],"falling":[83],"down.":[84],"Two":[85],"different":[86],"kinds":[87],"springs":[89],"are":[90],"installed":[91],"order":[96],"secure":[98],"certain":[99],"amount":[100],"force.":[103],"The":[104],"proposed":[105],"mechanism":[106],"reduces":[107],"changing":[109],"even":[114],"if":[115],"inter-wall":[117],"distance":[118],"changes":[119],"makes":[121],"smooth":[123],"movement":[124],"possible.":[125]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
