{"id":"https://openalex.org/W1975041061","doi":"https://doi.org/10.1163/1568553053583652","title":"Design and control of a mobile hyper-redundant urban search and rescue robot","display_name":"Design and control of a mobile hyper-redundant urban search and rescue robot","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W1975041061","doi":"https://doi.org/10.1163/1568553053583652","mag":"1975041061"},"language":"en","primary_location":{"id":"doi:10.1163/1568553053583652","is_oa":false,"landing_page_url":"https://doi.org/10.1163/1568553053583652","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-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/A5018506967","display_name":"Alon Wolf","orcid":"https://orcid.org/0000-0002-4595-0240"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alon Wolf","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000035126","display_name":"Howard H. Choset","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Howard H. Choset","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057367548","display_name":"Benjamin H. Brown","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Benjamin H. Brown","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5009432037","display_name":"Randall W. Casciola","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Randall W. Casciola","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018506967"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.1545,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.85714046,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"19","issue":"3","first_page":"221","last_page":"248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/search-and-rescue","display_name":"Search and rescue","score":0.7016348242759705},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6029075980186462},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.5768274068832397},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5642014145851135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5067873597145081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4916535019874573},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.48872852325439453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48004162311553955},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4776267409324646},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.4673626124858856},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4621814489364624},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4244765341281891},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4233972728252411},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41999685764312744},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38161447644233704},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3413768410682678},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08086585998535156}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.7016348242759705},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6029075980186462},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.5768274068832397},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5642014145851135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5067873597145081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4916535019874573},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.48872852325439453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48004162311553955},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4776267409324646},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.4673626124858856},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4621814489364624},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4244765341281891},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4233972728252411},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41999685764312744},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38161447644233704},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3413768410682678},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08086585998535156},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/1568553053583652","is_oa":false,"landing_page_url":"https://doi.org/10.1163/1568553053583652","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1486235130","https://openalex.org/W1573670163","https://openalex.org/W1585577797","https://openalex.org/W1596537003","https://openalex.org/W1607323002","https://openalex.org/W1715497930","https://openalex.org/W1836215632","https://openalex.org/W1978082245","https://openalex.org/W2006270299","https://openalex.org/W2014502771","https://openalex.org/W2067243719","https://openalex.org/W2100182797","https://openalex.org/W2108645589","https://openalex.org/W2111793746","https://openalex.org/W2122398245","https://openalex.org/W2124292722","https://openalex.org/W2137670317","https://openalex.org/W2246023205","https://openalex.org/W2801309182","https://openalex.org/W4236209040"],"related_works":["https://openalex.org/W2117893626","https://openalex.org/W1488897159","https://openalex.org/W2065470608","https://openalex.org/W4206733587","https://openalex.org/W2543684242","https://openalex.org/W2367640936","https://openalex.org/W257921636","https://openalex.org/W2388951953","https://openalex.org/W1979426194","https://openalex.org/W341083634"],"abstract_inverted_index":{"In":[0],"this":[1],"work":[2],"we":[3,185],"introduce":[4],"a":[5,9,19,27,105,130,142,195],"new":[6],"concept":[7],"of":[8,18,36,46,69,96,108,162,172,189],"search":[10,180,200,214],"and":[11,54,59,110,134,157,160,181,201,210,215],"rescue":[12,182,202,216],"robotic":[13,203],"system":[14,31,95,174,206],"that":[15],"is":[16,24,32,67,83,144],"composed":[17,68],"hyper-redundant":[20,199],"robot":[21,90,98,148],"(HRR)":[22],"which":[23,75,141],"mounted":[25,61,145],"on":[26,62,146],"mobile":[28,42,198],"base.":[29],"This":[30,205],"capable":[33],"not":[34],"only":[35],"inspecting":[37,47],"areas":[38,49],"reachable":[39],"by":[40,179],"the":[41,57,88,97,136,147,154,163,167,170,173,187,191],"base,":[43],"but":[44],"also":[45],"unreachable":[48],"such":[50],"as":[51,177],"small":[52],"cracks":[53],"pipes,":[55],"using":[56],"camera":[58,137,143],"sensors":[60],"its":[63],"end-effector.":[64,149],"The":[65,92,116,150],"HRR":[66],"14":[70,100],"actuated,":[71],"serially":[72],"chained,":[73],"d.o.f.":[74],"have":[76],"been":[77,208],"designed":[78],"for":[79,140],"compactness,":[80],"yet":[81],"each":[82],"strong":[84],"enough":[85],"to":[86,123],"support":[87],"entire":[89],"structure.":[91],"low-level":[93],"control":[94,118,127,159],"incorporates":[99],"embedded":[101],"mini-circuit":[102],"boards":[103],"implementing":[104],"low":[106],"number":[107],"wires":[109],"highspeed,":[111],"I2C":[112],"data":[113,164],"bus":[114],"technology.":[115],"high-level":[117],"algorithms":[119],"implement":[120],"kinematic":[121],"methods":[122],"perform":[124],"on-line":[125],"motion":[126],"both":[128],"in":[129,135,194,212],"global":[131],"coordinate":[132,138],"frame":[133,139],"user":[151,155],"interface":[152],"allows":[153],"full":[156],"easy":[158],"interpretation":[161],"received":[165],"from":[166],"camera.":[168],"All":[169],"components":[171,193],"are":[175],"hose-able":[176],"required":[178],"regulations.":[183],"Finally,":[184],"describe":[186],"integration":[188],"all":[190],"above-mentioned":[192],"complete":[196],"operational":[197],"system.":[204],"has":[207],"deployed":[209],"tested":[211],"several":[213],"training":[217],"scenarios.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}
