{"id":"https://openalex.org/W2120906125","doi":"https://doi.org/10.1109/robot.2004.1302523","title":"Development of the snake-like rescue robot \"kohga\"","display_name":"Development of the snake-like rescue robot \"kohga\"","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2120906125","doi":"https://doi.org/10.1109/robot.2004.1302523","mag":"2120906125"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5033931797","display_name":"Tetsushi Kamegawa","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Kamegawa","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063716045","display_name":"T. Yarnasaki","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yarnasaki","raw_affiliation_strings":["Tokyo Inst. of Tech"],"affiliations":[{"raw_affiliation_string":"Tokyo Inst. of Tech","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033390445","display_name":"H. Igarashi","orcid":"https://orcid.org/0000-0002-9462-955X"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Igarashi","raw_affiliation_strings":["SGI Japan, University of Electro-Communications, Chofu, Japan","SGI, Japan"],"affiliations":[{"raw_affiliation_string":"SGI Japan, University of Electro-Communications, Chofu, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"SGI, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"F. Matsuno","raw_affiliation_strings":["The University of Electro-Communications, Chofu, Japan"],"affiliations":[{"raw_affiliation_string":"The University of Electro-Communications, Chofu, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033931797"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":30.1298,"has_fulltext":false,"cited_by_count":189,"citation_normalized_percentile":{"value":0.99853857,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5081","last_page":"5086"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9890999794006348,"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/climb","display_name":"Climb","score":0.8779959678649902},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7815000414848328},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.7656301259994507},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.5613784790039062},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5541372895240784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5440518260002136},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.5375866889953613},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5080571174621582},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4972875416278839},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4920339286327362},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4482359290122986},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.4379889965057373},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4284578263759613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37999674677848816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37607496976852417},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35499781370162964},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14294391870498657},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08584591746330261}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8779959678649902},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7815000414848328},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.7656301259994507},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.5613784790039062},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5541372895240784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5440518260002136},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.5375866889953613},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5080571174621582},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4972875416278839},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4920339286327362},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4482359290122986},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.4379889965057373},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4284578263759613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37999674677848816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37607496976852417},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35499781370162964},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14294391870498657},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08584591746330261},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1302523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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":5,"referenced_works":["https://openalex.org/W1990940450","https://openalex.org/W2115498595","https://openalex.org/W2147248568","https://openalex.org/W2585704409","https://openalex.org/W2686334925"],"related_works":["https://openalex.org/W4206733587","https://openalex.org/W2388951953","https://openalex.org/W2367640936","https://openalex.org/W3101748978","https://openalex.org/W2361811248","https://openalex.org/W1494998464","https://openalex.org/W2981213010","https://openalex.org/W2155005883","https://openalex.org/W2535874842","https://openalex.org/W2910341219"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"report":[4],"the":[5,50,55,73],"development":[6],"of":[7],"a":[8,24],"new":[9],"rescue":[10],"robot":[11,14,51,74],"platform.":[12],"The":[13,36],"is":[15],"constructed":[16],"by":[17,40],"connecting":[18],"multiple":[19],"crawler":[20],"vehicles":[21],"serially,":[22],"resulting":[23],"long":[25],"and":[26,44,70],"thin":[27],"structure":[28],"so":[29,48],"that":[30,49],"it":[31],"can":[32,52],"enter":[33],"narrow":[34],"space.":[35],"units":[37],"are":[38,75],"connected":[39],"2-DOF":[41],"active":[42],"joints":[43],"3-DOF":[45],"passive":[46],"joints,":[47],"have":[53],"both":[54],"capability":[56],"to":[57,65],"climb":[58],"over":[59],"obstacles":[60],"as":[61,63],"well":[62],"adaptation":[64],"irregular":[66],"surfaces.":[67],"Basic":[68],"steering":[69],"experiments":[71],"for":[72],"also":[76],"shown.":[77]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":8}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}