{"id":"https://openalex.org/W2143819780","doi":"https://doi.org/10.1109/tro.2011.2160668","title":"Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot","display_name":"Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot","publication_year":2011,"publication_date":"2011-07-26","ids":{"openalex":"https://openalex.org/W2143819780","doi":"https://doi.org/10.1109/tro.2011.2160668","mag":"2143819780"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2160668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2160668","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10016/18727","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037126066","display_name":"Alberto Jard\u00f3n","orcid":"https://orcid.org/0000-0002-3734-7492"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Jardon","raw_affiliation_strings":["Department of Systems Enginnering and Automation, Universidad Carlos III de Madrid, Leganes, Spain","Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Enginnering and Automation, Universidad Carlos III de Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026714512","display_name":"Martin F. Stoelen","orcid":"https://orcid.org/0000-0002-2944-759X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Martin F. Stoelen","raw_affiliation_strings":["Department of Systems Enginnering and Automation, Universidad Carlos III de Madrid, Leganes, Spain","Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Enginnering and Automation, Universidad Carlos III de Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032713426","display_name":"Fabio Bonsignorio","orcid":"https://orcid.org/0000-0002-5802-2814"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fabio Bonsignorio","raw_affiliation_strings":["Heron Robots of Genova, Genova, Italy","RoboticsLab, Univ. Carlos III de Madrid, Leganes, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Heron Robots of Genova, Genova, Italy","institution_ids":[]},{"raw_affiliation_string":"RoboticsLab, Univ. Carlos III de Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038098758","display_name":"Carlos Balaguer","orcid":"https://orcid.org/0000-0003-4864-4625"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Balaguer","raw_affiliation_strings":["Department of Systems Enginnering and Automation, Universidad Carlos III de Madrid, Leganes, Spain","Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Enginnering and Automation, Universidad Carlos III de Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":1.5176,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84873812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"27","issue":"6","first_page":"1132","last_page":"1137"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9894999861717224,"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":0.9894999861717224,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9660999774932861,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7817453145980835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7180961966514587},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.6407458186149597},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6116656064987183},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5983529686927795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5956370234489441},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43471860885620117},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4320893883705139},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4311123788356781},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.42744526267051697},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4215892553329468},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4207344055175781},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3887789249420166},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3746899366378784},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2974884808063507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2967032194137573},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10511162877082825},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06005498766899109},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.05388316512107849}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7817453145980835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7180961966514587},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.6407458186149597},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6116656064987183},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5983529686927795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5956370234489441},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43471860885620117},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4320893883705139},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4311123788356781},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.42744526267051697},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4215892553329468},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4207344055175781},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3887789249420166},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3746899366378784},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2974884808063507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2967032194137573},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10511162877082825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06005498766899109},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.05388316512107849},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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":2,"locations":[{"id":"doi:10.1109/tro.2011.2160668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2160668","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:e-archivo.uc3m.es:10016/18727","is_oa":true,"landing_page_url":"http://hdl.handle.net/10016/18727","pdf_url":null,"source":{"id":"https://openalex.org/S4306400817","display_name":"e-Archivo (Carlos III University of Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I50357001","host_organization_name":"Universidad Carlos III de Madrid","host_organization_lineage":["https://openalex.org/I50357001"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:e-archivo.uc3m.es:10016/18727","is_oa":true,"landing_page_url":"http://hdl.handle.net/10016/18727","pdf_url":null,"source":{"id":"https://openalex.org/S4306400817","display_name":"e-Archivo (Carlos III University of Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I50357001","host_organization_name":"Universidad Carlos III de Madrid","host_organization_lineage":["https://openalex.org/I50357001"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1979190059","https://openalex.org/W2040961269","https://openalex.org/W2116979636","https://openalex.org/W2125198713","https://openalex.org/W2152125057","https://openalex.org/W6682593290"],"related_works":["https://openalex.org/W2029973929","https://openalex.org/W2323112089","https://openalex.org/W2324058214","https://openalex.org/W4377138153","https://openalex.org/W4312590534","https://openalex.org/W4205407652","https://openalex.org/W2047426691","https://openalex.org/W4210619223","https://openalex.org/W806709805","https://openalex.org/W2402852349"],"abstract_inverted_index":{"ASIBOT":[0],"is":[1,7],"an":[2],"assistive":[3],"climbing":[4],"robot":[5,30,42],"that":[6],"capable":[8],"of":[9],"aiding":[10],"in":[11,18],"daily":[12],"tasks":[13],"from":[14],"fixed":[15],"docking":[16],"stations":[17],"the":[19,29,37],"environment.":[20],"A":[21],"task-oriented":[22],"design":[23],"process":[24],"was":[25,34],"applied":[26],"to":[27],"improve":[28],"kinematic":[31],"structure,":[32],"which":[33],"based":[35],"on":[36],"grid":[38],"method.":[39],"Twelve":[40],"different":[41],"designs":[43],"were":[44],"optimized":[45],"for":[46],"typical":[47],"kitchen":[48],"scenarios,":[49],"followed":[50],"by":[51],"a":[52],"quantitative":[53],"comparison.":[54]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}