{"id":"https://openalex.org/W4317382664","doi":"https://doi.org/10.1109/robio55434.2022.10011803","title":"A Tethered-Climbing Robot System for Lunar Terrain: Modeling and Analysis","display_name":"A Tethered-Climbing Robot System for Lunar Terrain: Modeling and Analysis","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317382664","doi":"https://doi.org/10.1109/robio55434.2022.10011803"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011803","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011803","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 International Conference on Robotics and Biomimetics (ROBIO)","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/A5011354764","display_name":"Simon Harms","orcid":"https://orcid.org/0000-0003-0795-5849"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Simon Harms","raw_affiliation_strings":["Kyushu Institute of Technology,Department of Engineering,Tobata-ku,Kitakyushu,Japan","Department of Engineering, Kyushu Institute of Technology, Tobata-ku, Kitakyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu Institute of Technology,Department of Engineering,Tobata-ku,Kitakyushu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Department of Engineering, Kyushu Institute of Technology, Tobata-ku, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101516935","display_name":"T. Kawano","orcid":"https://orcid.org/0000-0002-8211-6044"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Kawano","raw_affiliation_strings":["Kyushu Institute of Technology,Department of Engineering,Tobata-ku,Kitakyushu,Japan","Department of Engineering, Kyushu Institute of Technology, Tobata-ku, Kitakyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu Institute of Technology,Department of Engineering,Tobata-ku,Kitakyushu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Department of Engineering, Kyushu Institute of Technology, Tobata-ku, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041440352","display_name":"Kenji Nagaoka","orcid":"https://orcid.org/0000-0003-2937-0964"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Nagaoka","raw_affiliation_strings":["Kyushu Institute of Technology,Department of Engineering,Tobata-ku,Kitakyushu,Japan","Department of Engineering, Kyushu Institute of Technology, Tobata-ku, Kitakyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Kyushu Institute of Technology,Department of Engineering,Tobata-ku,Kitakyushu,Japan","institution_ids":["https://openalex.org/I207014233"]},{"raw_affiliation_string":"Department of Engineering, Kyushu Institute of Technology, Tobata-ku, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011354764"],"corresponding_institution_ids":["https://openalex.org/I207014233"],"apc_list":null,"apc_paid":null,"fwci":1.0489,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78327645,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"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/T10406","display_name":"Planetary Science and Exploration","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10325","display_name":"Astro and Planetary Science","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/grippers","display_name":"Grippers","score":0.8504080772399902},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.769815981388092},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7566558122634888},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6988571882247925},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6657434105873108},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6164425611495972},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.6090103983879089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5045546293258667},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.495204359292984},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43927234411239624},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4321347773075104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32196301221847534},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2976148724555969},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.127652108669281},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11417457461357117},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06422960758209229}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8504080772399902},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.769815981388092},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7566558122634888},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6988571882247925},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6657434105873108},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6164425611495972},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.6090103983879089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5045546293258667},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.495204359292984},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43927234411239624},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4321347773075104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32196301221847534},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2976148724555969},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.127652108669281},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11417457461357117},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06422960758209229},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011803","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011803","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1972084009","https://openalex.org/W1987655147","https://openalex.org/W2005131721","https://openalex.org/W2016157593","https://openalex.org/W2027837797","https://openalex.org/W2092255863","https://openalex.org/W2120600124","https://openalex.org/W2167587950","https://openalex.org/W2284782695","https://openalex.org/W2738870766","https://openalex.org/W2765644801","https://openalex.org/W2789286234","https://openalex.org/W2952630004","https://openalex.org/W3000626629","https://openalex.org/W3007768948","https://openalex.org/W4235118199","https://openalex.org/W6695705244","https://openalex.org/W6772849731"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2048576502"],"abstract_inverted_index":{"A":[0],"climbing":[1,35],"robot":[2,62,87],"for":[3],"lunar":[4,89],"caves":[5],"and":[6,44,57,65,81],"craters,":[7],"called":[8],"a":[9,17,21,60,66,84],"tethered-climbing":[10,61,86],"robot,":[11],"is":[12,25,76],"proposed.":[13],"It":[14,32],"consists":[15],"of":[16,49,59,72,83],"robotic":[18,22],"platform":[19],"with":[20,41],"arm":[23,43,75],"which":[24],"suspended":[26],"via":[27],"tethers":[28],"from":[29],"multiple":[30],"grippers.":[31],"achieves":[33],"spatial":[34],"locomotion":[36],"by":[37,45],"relocating":[38],"the":[39,42,47,50,55,70,73,79],"grippers":[40],"controlling":[46],"length":[48],"tethers.":[51],"In":[52],"this":[53],"paper,":[54],"kinematics":[56],"statics":[58],"are":[63,91],"derived,":[64],"method":[67],"to":[68],"calculate":[69],"workspace":[71,82],"extendable":[74],"introduced.":[77],"Furthermore,":[78],"gait":[80],"generic":[85],"under":[88],"gravity":[90],"analyzed.":[92]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}