{"id":"https://openalex.org/W4377138153","doi":"https://doi.org/10.3390/robotics12030074","title":"Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles","display_name":"Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles","publication_year":2023,"publication_date":"2023-05-18","ids":{"openalex":"https://openalex.org/W4377138153","doi":"https://doi.org/10.3390/robotics12030074"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12030074","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030074","pdf_url":"https://www.mdpi.com/2218-6581/12/3/74/pdf?version=1684470673","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/3/74/pdf?version=1684470673","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091983707","display_name":"Antonio Pappalettera","orcid":"https://orcid.org/0000-0001-7298-7287"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Pappalettera","raw_affiliation_strings":["Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012418401","display_name":"Francesco Bottiglione","orcid":"https://orcid.org/0000-0002-0953-352X"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Bottiglione","raw_affiliation_strings":["Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088671938","display_name":"Giacomo Mantriota","orcid":"https://orcid.org/0000-0003-3331-6864"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giacomo Mantriota","raw_affiliation_strings":["Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3331-6864","affiliations":[{"raw_affiliation_string":"Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056616210","display_name":"Giulio Reina","orcid":"https://orcid.org/0000-0003-1793-4419"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giulio Reina","raw_affiliation_strings":["Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1793-4419","affiliations":[{"raw_affiliation_string":"Dipartimento di Meccanica, Matematica e Management, Politecnico di Bari, 70126 Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5056616210"],"corresponding_institution_ids":["https://openalex.org/I68618741"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":1.2861,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76937033,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"12","issue":"3","first_page":"74","last_page":"74"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.986299991607666,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.986299991607666,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11824","display_name":"Injury Epidemiology and Prevention","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.9120049476623535},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.8837889432907104},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.817447304725647},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6849106550216675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5179449915885925},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4881046712398529},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4308934807777405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39589962363243103},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38730329275131226},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08968496322631836},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08310949802398682},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.08253714442253113},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06386283040046692}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.9120049476623535},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.8837889432907104},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.817447304725647},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6849106550216675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5179449915885925},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4881046712398529},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4308934807777405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39589962363243103},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38730329275131226},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08968496322631836},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08310949802398682},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.08253714442253113},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06386283040046692},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12030074","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030074","pdf_url":"https://www.mdpi.com/2218-6581/12/3/74/pdf?version=1684470673","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7cfb66b741334d6d9a381f52eb560741","is_oa":true,"landing_page_url":"https://doaj.org/article/7cfb66b741334d6d9a381f52eb560741","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 3, p 74 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/3/74/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12030074","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 12; Issue 3; Pages: 74","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12030074","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030074","pdf_url":"https://www.mdpi.com/2218-6581/12/3/74/pdf?version=1684470673","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4377138153.pdf"},"referenced_works_count":92,"referenced_works":["https://openalex.org/W313293149","https://openalex.org/W1542083230","https://openalex.org/W1630437312","https://openalex.org/W1833824432","https://openalex.org/W1971563148","https://openalex.org/W1987175021","https://openalex.org/W1988559279","https://openalex.org/W1996628103","https://openalex.org/W2010361570","https://openalex.org/W2014019964","https://openalex.org/W2020814096","https://openalex.org/W2027256757","https://openalex.org/W2034113852","https://openalex.org/W2037013103","https://openalex.org/W2040728466","https://openalex.org/W2051685436","https://openalex.org/W2052685926","https://openalex.org/W2053028456","https://openalex.org/W2053817579","https://openalex.org/W2064736763","https://openalex.org/W2070157271","https://openalex.org/W2085578998","https://openalex.org/W2087499337","https://openalex.org/W2090987359","https://openalex.org/W2097800022","https://openalex.org/W2106941558","https://openalex.org/W2120944055","https://openalex.org/W2122996075","https://openalex.org/W2128906226","https://openalex.org/W2133592319","https://openalex.org/W2141129988","https://openalex.org/W2143826474","https://openalex.org/W2151453089","https://openalex.org/W2155963065","https://openalex.org/W2198927359","https://openalex.org/W2199492784","https://openalex.org/W2302216468","https://openalex.org/W2311352542","https://openalex.org/W2331825771","https://openalex.org/W2373073478","https://openalex.org/W2417433656","https://openalex.org/W2516799605","https://openalex.org/W2573129867","https://openalex.org/W2591354944","https://openalex.org/W2607182159","https://openalex.org/W2610230500","https://openalex.org/W2625787176","https://openalex.org/W2739276277","https://openalex.org/W2768015219","https://openalex.org/W2770013231","https://openalex.org/W2771192438","https://openalex.org/W2787670727","https://openalex.org/W2902512141","https://openalex.org/W2908129223","https://openalex.org/W2909553221","https://openalex.org/W2963378588","https://openalex.org/W2968031102","https://openalex.org/W2969446306","https://openalex.org/W2972798201","https://openalex.org/W2976134826","https://openalex.org/W2990434112","https://openalex.org/W3016896443","https://openalex.org/W3033408832","https://openalex.org/W3083317107","https://openalex.org/W3117610733","https://openalex.org/W3120311204","https://openalex.org/W3129230403","https://openalex.org/W3131341185","https://openalex.org/W3153834124","https://openalex.org/W3156629163","https://openalex.org/W3168234963","https://openalex.org/W3169595572","https://openalex.org/W3215316545","https://openalex.org/W4225385500","https://openalex.org/W4225812217","https://openalex.org/W4250058668","https://openalex.org/W4280635100","https://openalex.org/W4281666725","https://openalex.org/W4289943122","https://openalex.org/W4308380657","https://openalex.org/W4308967794","https://openalex.org/W4313886615","https://openalex.org/W4316465378","https://openalex.org/W6630892420","https://openalex.org/W6631689628","https://openalex.org/W6635272635","https://openalex.org/W6657138057","https://openalex.org/W6681720332","https://openalex.org/W6684326429","https://openalex.org/W6729625781","https://openalex.org/W6757641555","https://openalex.org/W7018216328"],"related_works":["https://openalex.org/W2082442769","https://openalex.org/W2178596988","https://openalex.org/W2029973929","https://openalex.org/W2045255587","https://openalex.org/W3120644063","https://openalex.org/W2952802393","https://openalex.org/W2323112089","https://openalex.org/W4385234613","https://openalex.org/W2615532210","https://openalex.org/W2047426691"],"abstract_inverted_index":{"Stair":[0],"climbing":[1,35,51,73,90],"is":[2,29,104],"one":[3],"of":[4,45,56,61,69,72,123,140],"the":[5,46,57,65,78,128],"most":[6],"challenging":[7],"tasks":[8],"for":[9,131],"vehicles,":[10],"especially":[11],"when":[12],"transporting":[13,132],"people":[14,133],"and":[15,24,37,48,59,63,67,97,113,117,126,134],"heavy":[16,135],"loads.":[17],"Although":[18],"many":[19],"solutions":[20],"have":[21],"been":[22],"proposed":[23],"demonstrated":[25],"in":[26],"practice,":[27],"it":[28,103],"necessary":[30],"to":[31,106,119],"further":[32],"improve":[33],"their":[34,98],"ability":[36,96],"safety.":[38],"This":[39],"paper":[40],"presents":[41],"a":[42,138],"systematic":[43],"review":[44],"scientific":[47],"engineering":[49],"stair":[50],"literature,":[52],"providing":[53],"brief":[54],"descriptions":[55],"mechanism":[58],"method":[60],"operation":[62],"highlighting":[64],"advantages":[66],"disadvantages":[68],"different":[70,110],"types":[71],"platform.":[74],"To":[75],"quantitatively":[76],"evaluate":[77],"system":[79],"performance,":[80],"various":[81],"metrics":[82],"are":[83],"presented":[84],"that":[85],"consider":[86],"allowable":[87],"payload,":[88],"maximum":[89,92],"speed,":[91],"crossable":[93],"slope,":[94],"transport":[95],"combinations.":[99],"Using":[100],"these":[101],"metrics,":[102],"possible":[105],"compare":[107],"vehicles":[108,125],"with":[109],"locomotion":[111],"modes":[112],"properties,":[114],"allowing":[115],"researchers":[116],"practitioners":[118],"gain":[120],"in-depth":[121],"knowledge":[122],"stair-climbing":[124],"choose":[127],"best":[129],"category":[130],"loads":[136],"up":[137],"flight":[139],"stairs.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2023-05-21T00:00:00"}
