{"id":"https://openalex.org/W6903228279","doi":"https://doi.org/10.1109/tro.2025.3588446","title":"SCALER: Versatile Multilimbed Robot for Free-Climbing in Extreme Terrains","display_name":"SCALER: Versatile Multilimbed Robot for Free-Climbing in Extreme Terrains","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W6903228279","doi":"https://doi.org/10.1109/tro.2025.3588446"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3588446","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3588446","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/tro.2025.3588446","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yusuke Tanaka","orcid":"https://orcid.org/0000-0001-7490-2988"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yusuke Tanaka","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7490-2988","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuki Shirai","orcid":"https://orcid.org/0000-0003-4729-4256"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuki Shirai","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4729-4256","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Alexander Schperberg","orcid":"https://orcid.org/0000-0002-3746-1105"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Schperberg","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3746-1105","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xuan Lin","orcid":"https://orcid.org/0000-0002-6223-7009"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuan Lin","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6223-7009","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":null,"display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1089-4373","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":2.4243,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89507164,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"5189","last_page":"5208"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8598999977111816,"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":0.8598999977111816,"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":0.0722000002861023,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.03849999979138374,"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/traverse","display_name":"Traverse","score":0.8769999742507935},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.8173999786376953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7113999724388123},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6541000008583069},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.5857999920845032},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5432000160217285},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5159000158309937},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.44999998807907104}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8769999742507935},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8173999786376953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7113999724388123},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6541000008583069},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.5857999920845032},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5550000071525574},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5432000160217285},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5159000158309937},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.44999998807907104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43869999051094055},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40880000591278076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40149998664855957},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39559999108314514},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.35899999737739563},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3528999984264374},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3240000009536743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3237000107765198},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.302700012922287},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30239999294281006},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28349998593330383},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2773999869823456},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2732999920845032},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3588446","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3588446","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tro.2025.3588446","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3588446","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1666253975","https://openalex.org/W1979445726","https://openalex.org/W1983241812","https://openalex.org/W2005805981","https://openalex.org/W2020751555","https://openalex.org/W2023820973","https://openalex.org/W2037983964","https://openalex.org/W2053188425","https://openalex.org/W2054518031","https://openalex.org/W2096780166","https://openalex.org/W2101323812","https://openalex.org/W2124064924","https://openalex.org/W2125095347","https://openalex.org/W2138419444","https://openalex.org/W2143188232","https://openalex.org/W2152444335","https://openalex.org/W2155497993","https://openalex.org/W2162207896","https://openalex.org/W2167357810","https://openalex.org/W2211080258","https://openalex.org/W2282481780","https://openalex.org/W2295130897","https://openalex.org/W2605431040","https://openalex.org/W2738173023","https://openalex.org/W2738870766","https://openalex.org/W2773059370","https://openalex.org/W2775635818","https://openalex.org/W2789286234","https://openalex.org/W2790141348","https://openalex.org/W2883294962","https://openalex.org/W2908865136","https://openalex.org/W2909229154","https://openalex.org/W2909331752","https://openalex.org/W2910436940","https://openalex.org/W2918647112","https://openalex.org/W2962688712","https://openalex.org/W2967118761","https://openalex.org/W2981381355","https://openalex.org/W3000315236","https://openalex.org/W3011984902","https://openalex.org/W3033253270","https://openalex.org/W3087904604","https://openalex.org/W3109424835","https://openalex.org/W3168829710","https://openalex.org/W3189208719","https://openalex.org/W3204371531","https://openalex.org/W3205196998","https://openalex.org/W3206987832","https://openalex.org/W4200179664","https://openalex.org/W4200353447","https://openalex.org/W4250058668","https://openalex.org/W4283822920","https://openalex.org/W4311457283","https://openalex.org/W4312271328","https://openalex.org/W4313260629","https://openalex.org/W4317383722","https://openalex.org/W4366827905","https://openalex.org/W4383108217","https://openalex.org/W4383108368","https://openalex.org/W4385656276","https://openalex.org/W4389665413","https://openalex.org/W4390480985","https://openalex.org/W4401416642"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"SCALER,":[3],"a":[4,31,40,45,49,131],"versatile":[5],"free-climbing":[6],"multi-limbed":[7],"robot":[8],"that":[9,57,70],"is":[10],"designed":[11],"to":[12,52,82,102,125],"achieve":[13],"tightly":[14],"coupled":[15],"simultaneous":[16],"locomotion":[17,35],"and":[18,36,48,74,100,147],"dexterous":[19,28],"grasping.":[20],"While":[21],"existing":[22],"quadrupedal-limbed":[23],"robots":[24],"have":[25],"demonstrated":[26],"impressive":[27],"capabilities,":[29],"achieving":[30],"balance":[32],"between":[33],"power-demanding":[34],"precise":[37],"grasping":[38,88,108],"remains":[39],"critical":[41],"challenge.":[42],"We":[43,90],"design":[44],"torso":[46],"mechanism":[47],"parallel-serial":[50],"limb":[51],"meet":[53],"the":[54,92,120,155],"conflicting":[55],"requirements":[56],"pose":[58],"unique":[59],"challenges":[60],"in":[61,109,130],"hardware":[62],"design.":[63],"SCALER":[64,81,96,139],"employs":[65],"underactuated":[66],"two-fingered":[67],"GOAT":[68,121],"grippers":[69],"can":[71,140],"mechanically":[72],"adapt":[73],"offer":[75],"seven":[76],"modes":[77],"of":[78],"grasping,":[79],"enabling":[80],"traverse":[83,141],"extreme":[84],"terrains":[85,146],"with":[86,150],"multi-modal":[87],"strategies.":[89],"study":[91],"whole-body":[93],"approach,":[94],"where":[95],"utilizes":[97],"its":[98,115],"body":[99],"limbs":[101],"generate":[103],"additional":[104],"forces":[105],"for":[106],"stable":[107],"various":[110],"environments,":[111],"thereby":[112],"further":[113],"enhancing":[114],"versatility.":[116],"Furthermore,":[117],"we":[118],"improve":[119],"gripper":[122],"actuation":[123],"speed":[124],"realize":[126],"more":[127],"dynamic":[128],"climbing":[129,152],"closed-loop":[132],"control":[133],"fashion.":[134],"With":[135],"these":[136],"proposed":[137],"technologies,":[138],"vertical,":[142],"overhanging,":[143],"upside-down,":[144],"slippery":[145],"bouldering":[148],"walls":[149],"non-convex-shaped":[151],"holds":[153],"under":[154],"Earth's":[156],"gravity.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}
