{"id":"https://openalex.org/W4252977071","doi":"https://doi.org/10.1109/ssrr.2016.7784276","title":"IBEX \u2014 A tele-operation and training device for walking excavators","display_name":"IBEX \u2014 A tele-operation and training device for walking excavators","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W4252977071","doi":"https://doi.org/10.1109/ssrr.2016.7784276"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2016.7784276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5017516038","display_name":"Marco Hutter","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054124847","display_name":"Thomas Braungardt","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Thomas Braungardt","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028510537","display_name":"Fabian Grigis","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabian Grigis","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077009888","display_name":"Gabriel Hottiger","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Gabriel Hottiger","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080877280","display_name":"Dominic Jud","orcid":"https://orcid.org/0000-0001-8445-6344"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dominic Jud","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103010384","display_name":"Michael B. Katz","orcid":"https://orcid.org/0000-0003-1021-1402"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Katz","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048295887","display_name":"Philipp Leemann","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Philipp Leemann","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073000013","display_name":"Paul Nemetz","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Paul Nemetz","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004339928","display_name":"Jonas Peschel","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonas Peschel","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066751391","display_name":"Jan Preisig","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jan Preisig","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063050557","display_name":"Nicolas Sollich","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nicolas Sollich","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031799401","display_name":"Miro Voellmy","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Miro Voellmy","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001369566","display_name":"Moritz Zimmermann","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Moritz Zimmermann","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042510273","display_name":"Samuel Zimmermann","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Samuel Zimmermann","raw_affiliation_strings":["ETH, Robotic Systems Lab, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH, Robotic Systems Lab, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":14,"corresponding_author_ids":["https://openalex.org/A5017516038"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.6838,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.72744719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"62","issue":null,"first_page":"48","last_page":"53"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9955999851226807,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9955999851226807,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9884999990463257,"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/T14011","display_name":"Elevator Systems and Control","score":0.9854999780654907,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/excavator","display_name":"Excavator","score":0.9414072036743164},{"id":"https://openalex.org/keywords/lever","display_name":"Lever","score":0.7218332290649414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5993085503578186},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5498679280281067},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.5419209599494934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30713796615600586},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1198139488697052}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9414072036743164},{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.7218332290649414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5993085503578186},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5498679280281067},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.5419209599494934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30713796615600586},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1198139488697052},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2016.7784276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W42216503","https://openalex.org/W652070477","https://openalex.org/W1589202939","https://openalex.org/W1875519843","https://openalex.org/W2003469378","https://openalex.org/W2046474582","https://openalex.org/W2077129956","https://openalex.org/W2103761676","https://openalex.org/W2128884245","https://openalex.org/W2140330902","https://openalex.org/W2391895653","https://openalex.org/W2605747463","https://openalex.org/W6601685708","https://openalex.org/W6635098793","https://openalex.org/W6675634793"],"related_works":["https://openalex.org/W3003601017","https://openalex.org/W2038528908","https://openalex.org/W2997898942","https://openalex.org/W2997279469","https://openalex.org/W2901741596","https://openalex.org/W2363098002","https://openalex.org/W2347606691","https://openalex.org/W2466671794","https://openalex.org/W2391703932","https://openalex.org/W4241844926"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,14,41,71,107,118],"novel":[4],"tele-operation":[5],"and":[6,35,101,117],"training":[7,131],"device":[8,132],"for":[9,25,32,45,133],"walking":[10,52,134],"excavators":[11],"based":[12],"on":[13],"compact":[15],"3DOF":[16],"motion":[17],"platform.":[18],"Thanks":[19],"to":[20],"an":[21,81],"innovative":[22],"setup":[23],"optimized":[24],"high":[26],"mobility,":[27],"with":[28],"two":[29],"lever":[30],"arms":[31],"differential":[33],"roll":[34],"pitch":[36],"actuation":[37],"as":[38,40,85,129],"well":[39],"continuous":[42],"rotation":[43],"mechanism":[44],"yaw,":[46],"the":[47,50,74,91],"movement":[48],"of":[49,120],"remote":[51],"excavator":[53,135],"can":[54,83],"be":[55],"accurately":[56],"replicated":[57],"in":[58,90],"any":[59],"situation.":[60],"For":[61],"realistic":[62,108],"yet":[63],"comfortable":[64],"visual":[65],"feedback,":[66,80],"three":[67],"foldable":[68],"screens":[69],"provide":[70],"view":[72],"around":[73],"unmanned":[75],"excavator.":[76],"With":[77],"this":[78,105],"augmented":[79],"operator":[82],"work":[84],"if":[86],"he":[87],"was":[88],"sitting":[89],"actual":[92],"machine.":[93],"The":[94],"platform":[95],"is":[96,115],"successfully":[97],"tested":[98],"by":[99],"experienced":[100],"unexperienced":[102],"users.":[103],"To":[104],"end,":[106],"simulation":[109],"using":[110],"CM":[111],"Labs":[112],"vortex":[113],"environment":[114],"implemented":[116],"series":[119],"scenarios":[121],"are":[122],"tested.":[123],"As":[124],"such,":[125],"ibex":[126],"additionally":[127],"serves":[128],"ideal":[130],"pilots.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":17},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}