{"id":"https://openalex.org/W7131824669","doi":"https://doi.org/10.1109/sii64115.2026.11404549","title":"Proposal and Feasibility Evaluation of a Quasi-static Omni-Directional Mobility Robot using Multiple Elastic Telescopic Arms","display_name":"Proposal and Feasibility Evaluation of a Quasi-static Omni-Directional Mobility Robot using Multiple Elastic Telescopic Arms","publication_year":2026,"publication_date":"2026-01-11","ids":{"openalex":"https://openalex.org/W7131824669","doi":"https://doi.org/10.1109/sii64115.2026.11404549"},"language":null,"primary_location":{"id":"doi:10.1109/sii64115.2026.11404549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","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/A5124587057","display_name":"Kazuhiro Tsukahara","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kazuhiro Tsukahara","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058961083","display_name":"H. Kodama","orcid":"https://orcid.org/0009-0003-5676-0930"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hiroto Kodama","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018827878","display_name":"Yuji FUJITSUKA","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuji Fujitsuka","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127458713","display_name":"Daiki Ueda","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daiki Ueda","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127416135","display_name":"Takahiro Aruga","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takahiro Aruga","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127397840","display_name":"Gen Endo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25570152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"745","last_page":"749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.1949000060558319,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.1949000060558319,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10868","display_name":"Soft Robotics and Applications","score":0.18129999935626984,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.15189999341964722,"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":0.8422999978065491},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7384999990463257},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5697000026702881},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5598000288009644},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5544999837875366},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.46160000562667847},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.44510000944137573},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4424999952316284},{"id":"https://openalex.org/keywords/clamping","display_name":"Clamping","score":0.3804999887943268}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.8422999978065491},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7384999990463257},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5697000026702881},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5598000288009644},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5544999837875366},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5253999829292297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4666999876499176},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.46160000562667847},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.44510000944137573},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4424999952316284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4422999918460846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4194999933242798},{"id":"https://openalex.org/C84111939","wikidata":"https://www.wikidata.org/wiki/Q5125465","display_name":"Clamping","level":2,"score":0.3804999887943268},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.359499990940094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35120001435279846},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.34940001368522644},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3474999964237213},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.30979999899864197},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.29249998927116394},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29190000891685486},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27309998869895935},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2702000141143799},{"id":"https://openalex.org/C146249460","wikidata":"https://www.wikidata.org/wiki/Q2914991","display_name":"Fixation (population genetics)","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.25540000200271606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii64115.2026.11404549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6879180073738098}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W81556668","https://openalex.org/W360018113","https://openalex.org/W2122996075","https://openalex.org/W2687587106","https://openalex.org/W4293094904","https://openalex.org/W4389985350","https://openalex.org/W4391827258","https://openalex.org/W4405787274","https://openalex.org/W4407404689"],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robots":[1,25,45],"capable":[2,26,79],"of":[3,27,33,52,80,120,127,146,177],"operating":[4],"in":[5,112,149],"environments":[6],"where":[7],"human":[8],"work":[9],"is":[10],"difficult,":[11],"such":[12,44],"as":[13,68],"elevated":[14],"locations":[15],"or":[16],"rough":[17],"terrain,":[18],"have":[19],"been":[20],"developed,":[21],"including":[22],"rough-terrain":[23,150],"mobile":[24,169],"three-dimensional":[28,81,113],"locomotion":[29],"by":[30,115],"fixing":[31],"end":[32,54],"a":[34,77,154,158,162,167],"tether":[35,53],"to":[36,109,142,183],"the":[37,107,121,125,135,144,147,175,178,181],"environment":[38],"and":[39,56,105,118],"winching":[40],"it":[41,187],"in.":[42],"However,":[43],"still":[46],"face":[47],"issues,":[48,61],"for":[49],"example,":[50],"automation":[51],"fixation":[55],"release.":[57],"To":[58,123],"address":[59],"these":[60],"we":[62,75,130,152],"consider":[63],"Elastic":[64],"Telescopic":[65],"Arm":[66],"(ETA)":[67],"an":[69],"effective":[70],"solution.":[71],"In":[72],"this":[73,128],"paper,":[74],"propose":[76],"robot":[78,88,182],"movement":[82],"using":[83,157],"multiple":[84],"ETAs.":[85],"The":[86,171],"proposed":[87],"extends":[89],"several":[90],"ETAs":[91],"mounted":[92,165],"on":[93,134,166,191],"its":[94,192],"body,":[95],"grips":[96],"rigid":[97],"environmental":[98],"structures":[99],"with":[100,161],"grippers":[101],"at":[102],"their":[103],"tips,":[104],"moves":[106],"body":[108],"arbitrary":[110],"positions":[111],"space":[114],"controlling":[116],"extension":[117],"contraction":[119,132],"arms.":[122],"verify":[124],"feasibility":[126],"principle,":[129],"conducted":[131],"experiments":[133],"arm":[136],"while":[137],"under":[138],"tensile":[139],"load.":[140],"Furthermore,":[141],"demonstrate":[143],"usefulness":[145],"ETA":[148,164,179],"traversal,":[151],"performed":[153],"proof-of-concept":[155],"experiment":[156,172],"prototype":[159],"equipped":[160],"single":[163],"four-wheeled":[168],"robot.":[170],"confirmed":[173],"that":[174,186],"use":[176],"enabled":[180],"climb":[184,190],"stairs":[185],"could":[188],"not":[189],"own.":[193]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-28T00:00:00"}
