{"id":"https://openalex.org/W2966009002","doi":"https://doi.org/10.1109/romoco.2019.8787360","title":"Step climbing method for crawler type rescue robot using reinforcement learning with Proximal Policy Optimization","display_name":"Step climbing method for crawler type rescue robot using reinforcement learning with Proximal Policy Optimization","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2966009002","doi":"https://doi.org/10.1109/romoco.2019.8787360","mag":"2966009002"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2019.8787360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787360","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","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/A5060996580","display_name":"Mifu Totani","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mifu Totani","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109466285","display_name":"Noritaka Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Noritaka Sato","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232533","display_name":"Yoshifumi Morita","orcid":"https://orcid.org/0009-0001-9665-4425"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshifumi Morita","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I197274945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5060996580"],"corresponding_institution_ids":["https://openalex.org/I197274945"],"apc_list":null,"apc_paid":null,"fwci":0.6073,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.72149189,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"154","last_page":"159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.8479263782501221},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.790176510810852},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7464333176612854},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.733806848526001},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6699816584587097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6365468502044678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6335424184799194},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6221450567245483},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5093303918838501},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48615047335624695},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.46833041310310364},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43024274706840515},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41595029830932617},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4062759280204773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2613430917263031},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0647994875907898}],"concepts":[{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.8479263782501221},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.790176510810852},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7464333176612854},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.733806848526001},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6699816584587097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6365468502044678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6335424184799194},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6221450567245483},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5093303918838501},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48615047335624695},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.46833041310310364},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43024274706840515},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41595029830932617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4062759280204773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2613430917263031},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0647994875907898},{"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/romoco.2019.8787360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787360","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","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":8,"referenced_works":["https://openalex.org/W1771410628","https://openalex.org/W2017173351","https://openalex.org/W2145339207","https://openalex.org/W2174423225","https://openalex.org/W2736601468","https://openalex.org/W2767286248","https://openalex.org/W2963285578","https://openalex.org/W6638018090"],"related_works":["https://openalex.org/W4206733587","https://openalex.org/W2388951953","https://openalex.org/W2367640936","https://openalex.org/W3101748978","https://openalex.org/W2543684242","https://openalex.org/W2721581030","https://openalex.org/W2361811248","https://openalex.org/W4391252873","https://openalex.org/W2117893626","https://openalex.org/W2981213010"],"abstract_inverted_index":{"It":[0],"is":[1,25],"a":[2,11,16,36,41,46,67,73,88],"huge":[3],"burden":[4,29],"on":[5,15,69],"an":[6],"operator":[7],"when":[8],"he/she":[9],"tele-operates":[10],"rescue":[12,49],"robot":[13,33,50,71],"traveling":[14],"rough":[17],"terrain.":[18],"Therefore,":[19],"the":[20,32,64,70,77,81,84],"purpose":[21],"of":[22,66,76,83],"this":[23,28],"study":[24],"to":[26],"reduce":[27],"by":[30,51],"controlling":[31],"autonomously.":[34],"As":[35],"first":[37],"step,":[38],"we":[39],"propose":[40],"step":[42],"climbing":[43],"method":[44,86],"for":[45],"crawler":[47],"type":[48],"using":[52,87],"reinforcement":[53],"learning":[54],"with":[55],"Proximal":[56],"Policy":[57],"Optimization":[58],"(PPO).":[59],"The":[60],"input":[61],"data":[62],"are":[63],"image":[65,75],"camera":[68],"and":[72],"posture":[74],"robot.":[78],"We":[79],"verified":[80],"effectiveness":[82],"proposed":[85],"dynamics":[89],"simulator.":[90]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}