{"id":"https://openalex.org/W2110346428","doi":"https://doi.org/10.1109/robot.2006.1641755","title":"Deformation compensation for continuous force control of a wall climbing quadruped with reduced-DOF","display_name":"Deformation compensation for continuous force control of a wall climbing quadruped with reduced-DOF","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2110346428","doi":"https://doi.org/10.1109/robot.2006.1641755","mag":"2110346428"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5101402751","display_name":"Yusuke Ota","orcid":"https://orcid.org/0000-0001-5815-1328"},"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":"Y. Ota","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056721701","display_name":"Toru Kuga","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. Kuga","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109352026","display_name":"K. Yoneda","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":"K. Yoneda","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101402751"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":1.395,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81958659,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"468","last_page":"474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9977999925613403,"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":0.9977999925613403,"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/T11780","display_name":"Rabies epidemiology and control","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2406","display_name":"Virology"},"field":{"id":"https://openalex.org/fields/24","display_name":"Immunology and Microbiology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12249","display_name":"Veterinary Orthopedics and Neurology","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/3404","display_name":"Small Animals"},"field":{"id":"https://openalex.org/fields/34","display_name":"Veterinary"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7071582674980164},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5615646839141846},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.53757244348526},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5335104465484619},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4615827202796936},{"id":"https://openalex.org/keywords/ceiling","display_name":"Ceiling (cloud)","score":0.4328905940055847},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42579013109207153},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37002575397491455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3521212935447693},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.26431959867477417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16524803638458252},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16502711176872253},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10063380002975464},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08148160576820374}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7071582674980164},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5615646839141846},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.53757244348526},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5335104465484619},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4615827202796936},{"id":"https://openalex.org/C2777489069","wikidata":"https://www.wikidata.org/wiki/Q1589822","display_name":"Ceiling (cloud)","level":2,"score":0.4328905940055847},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42579013109207153},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37002575397491455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3521212935447693},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.26431959867477417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16524803638458252},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16502711176872253},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10063380002975464},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08148160576820374},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W149477684","https://openalex.org/W1930821101","https://openalex.org/W2160979164","https://openalex.org/W2576484681","https://openalex.org/W3196957489","https://openalex.org/W6800591740"],"related_works":["https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2521924929","https://openalex.org/W2392978157","https://openalex.org/W2364780071","https://openalex.org/W4392749941","https://openalex.org/W2081139303","https://openalex.org/W3212815067","https://openalex.org/W4313245278","https://openalex.org/W2284468552"],"abstract_inverted_index":{"A":[0],"lightweight":[1,32],"wall":[2,129,132,145,153],"climbing":[3,146,154,173,176],"robot":[4,15,28,44,155],"with":[5,29,69,75,85,98,112,188],"reduced":[6,46],"degrees":[7],"of":[8,17,42,151],"freedom":[9],"(DOF)":[10],"is":[11,24,33,60,72,108,118,147],"under":[12],"development.":[13],"This":[14,116],"consists":[16],"three":[18],"main":[19],"components.":[20],"The":[21,57,66,88,149],"first":[22],"component":[23,107],"a":[25,54,61,64,70,76],"quadruped":[26],"walking":[27,55,121],"reduced-DOF.":[30],"Since":[31],"an":[34,109],"important":[35],"feature":[36],"for":[37,120,144,170],"wall-climbing":[38],"robots,":[39],"the":[40,80,105,140,152,160,164,179,189],"DOF":[41],"this":[43,92,183],"were":[45],"until":[47],"three,":[48],"without":[49],"hampering":[50],"its":[51,171],"ability":[52],"as":[53],"robot.":[56],"second":[58],"one":[59],"sucker":[62,89],"using":[63,178],"blower.":[65],"adhesion":[67],"force":[68],"blower":[71,81],"weaker":[73],"than":[74],"vacuum":[77],"pump,":[78],"but":[79],"can":[82,94],"deal":[83],"better":[84],"air":[86],"leakage.":[87],"developed":[90,181],"in":[91,123,182],"research":[93,184],"adhere":[95],"to":[96,130,133,137],"walls":[97],"many":[99],"slits":[100],"and":[101,126,135],"uneven":[102],"ceiling.":[103],"Finally,":[104],"last":[106],"ankle":[110],"joint":[111],"wide":[113],"movable":[114],"range.":[115],"mechanism":[117],"indispensable":[119,169],"freely":[122],"any":[124],"environment":[125],"transferring":[127],"from":[128],"wall,":[131],"ceiling":[134],"ground":[136],"wall.":[138],"Moreover,":[139],"appropriate":[141],"compensated":[142,165,191],"motion":[143,166,192],"considered.":[148],"structure":[150],"has":[156],"been":[157,186],"deformed":[158],"by":[159],"gravity":[161],"effects.":[162],"Therefore,":[163],"should":[167],"be":[168],"smooth":[172],"motion.":[174],"Wall":[175],"experiments":[177],"walker":[180],"have":[185],"performed":[187],"proposed":[190]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
