{"id":"https://openalex.org/W4411184642","doi":"https://doi.org/10.3390/robotics14060079","title":"Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion","display_name":"Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion","publication_year":2025,"publication_date":"2025-06-10","ids":{"openalex":"https://openalex.org/W4411184642","doi":"https://doi.org/10.3390/robotics14060079"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14060079","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14060079","pdf_url":"https://www.mdpi.com/2218-6581/14/6/79/pdf?version=1749549330","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/2218-6581/14/6/79/pdf?version=1749549330","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054300122","display_name":"Ernesto Christian Orozco-Magdaleno","orcid":"https://orcid.org/0000-0002-2785-4650"},"institutions":[{"id":"https://openalex.org/I4210086970","display_name":"Universidad An\u00e1huac Quer\u00e9taro","ror":"https://ror.org/000mgxg22","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210086970"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Ernesto Christian Orozco-Magdaleno","raw_affiliation_strings":["Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada Unidad Quer\u00e9taro, Instituto Polit\u00e9cnico Nacional, Quer\u00e9taro 76090, Mexico","Escuela de Ingenier\u00eda, Universidad An\u00e1huac Quer\u00e9taro, Quer\u00e9taro 76246, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-2785-4650","affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada Unidad Quer\u00e9taro, Instituto Polit\u00e9cnico Nacional, Quer\u00e9taro 76090, Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Escuela de Ingenier\u00eda, Universidad An\u00e1huac Quer\u00e9taro, Quer\u00e9taro 76246, Mexico","institution_ids":["https://openalex.org/I4210086970"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001784387","display_name":"Eduardo Castillo-Casta\u00f1eda","orcid":"https://orcid.org/0000-0002-3307-6947"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Eduardo Castillo-Casta\u00f1eda","raw_affiliation_strings":["Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada Unidad Quer\u00e9taro, Instituto Polit\u00e9cnico Nacional, Quer\u00e9taro 76090, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-3307-6947","affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Ciencia Aplicada y Tecnolog\u00eda Avanzada Unidad Quer\u00e9taro, Instituto Polit\u00e9cnico Nacional, Quer\u00e9taro 76090, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073592819","display_name":"Omar Rodr\u00edguez-Abreo","orcid":"https://orcid.org/0000-0002-8650-1185"},"institutions":[{"id":"https://openalex.org/I157492648","display_name":"Autonomous University of Queretaro","ror":"https://ror.org/00v8fdc16","country_code":"MX","type":"education","lineage":["https://openalex.org/I157492648"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Omar Rodr\u00edguez-Abreo","raw_affiliation_strings":["Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, Santiago de Quer\u00e9taro 76240, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-8650-1185","affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, Santiago de Quer\u00e9taro 76240, Mexico","institution_ids":["https://openalex.org/I157492648"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084422764","display_name":"Giuseppe Carbone","orcid":"https://orcid.org/0000-0003-0831-8358"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Carbone","raw_affiliation_strings":["DIMEG, University of Calabria, 87036 Cosenza, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0831-8358","affiliations":[{"raw_affiliation_string":"DIMEG, University of Calabria, 87036 Cosenza, Italy","institution_ids":["https://openalex.org/I45204951"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054300122"],"corresponding_institution_ids":["https://openalex.org/I4210086970","https://openalex.org/I59361560"],"apc_list":{"value":1800,"currency":"CHF","value_usd":2172},"apc_paid":{"value":1800,"currency":"CHF","value_usd":2172},"fwci":0.6166,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62453399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"14","issue":"6","first_page":"79","last_page":"79"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9945999979972839,"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/legged-robot","display_name":"Legged robot","score":0.6510030627250671},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6184276342391968},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.49292898178100586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4468940198421478},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.403588205575943},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3663760721683502},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36606794595718384},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34709760546684265},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3114407956600189},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24786296486854553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23000898957252502}],"concepts":[{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.6510030627250671},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6184276342391968},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.49292898178100586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4468940198421478},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.403588205575943},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3663760721683502},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36606794595718384},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34709760546684265},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3114407956600189},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24786296486854553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23000898957252502}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14060079","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14060079","pdf_url":"https://www.mdpi.com/2218-6581/14/6/79/pdf?version=1749549330","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:5442cc7f54f246b58d1f1432f1538d3f","is_oa":true,"landing_page_url":"https://doaj.org/article/5442cc7f54f246b58d1f1432f1538d3f","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 14, Iss 6, p 79 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14060079","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14060079","pdf_url":"https://www.mdpi.com/2218-6581/14/6/79/pdf?version=1749549330","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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4411184642.pdf","grobid_xml":"https://content.openalex.org/works/W4411184642.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1499937460","https://openalex.org/W1568865333","https://openalex.org/W1956438442","https://openalex.org/W1985283556","https://openalex.org/W1991127731","https://openalex.org/W1993770485","https://openalex.org/W2003107263","https://openalex.org/W2022024011","https://openalex.org/W2023820973","https://openalex.org/W2054098571","https://openalex.org/W2054686594","https://openalex.org/W2079830066","https://openalex.org/W2083365813","https://openalex.org/W2096780166","https://openalex.org/W2097189012","https://openalex.org/W2130007788","https://openalex.org/W2154006563","https://openalex.org/W2156398583","https://openalex.org/W2163719747","https://openalex.org/W2169769206","https://openalex.org/W2237181657","https://openalex.org/W2248792213","https://openalex.org/W2556257719","https://openalex.org/W2734686774","https://openalex.org/W2736971840","https://openalex.org/W2751843673","https://openalex.org/W2795678689","https://openalex.org/W2885682666","https://openalex.org/W2889656350","https://openalex.org/W2995354975","https://openalex.org/W3000514026","https://openalex.org/W3016074642","https://openalex.org/W4210660029","https://openalex.org/W4226167683","https://openalex.org/W4235469158","https://openalex.org/W4282833230","https://openalex.org/W6676933155","https://openalex.org/W6741079429","https://openalex.org/W7062387389"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W3104537609","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W2332067308","https://openalex.org/W4376605692","https://openalex.org/W2940850594"],"abstract_inverted_index":{"Most":[0],"of":[1,49,60,75,89,117,123,161,172],"the":[2,27,45,50,56,84,101,118,124,155,159,162,165,173],"developed":[3],"and":[4,47,58,87,128,147,167],"studied":[5],"service":[6,67],"robots":[7],"for":[8,64,176],"vertical":[9,65,177],"locomotion,":[10],"as":[11,100,139,143,145],"visual":[12],"inspection,":[13],"are":[14,131,152],"made":[15,73],"up":[16,74],"by":[17,133],"a":[18,71,108,113],"rigid":[19],"body":[20,72],"with":[21],"legs,":[22],"wheels,":[23],"or":[24],"both.":[25],"Thus,":[26],"robot":[28,63,93,119,156],"can":[29,80],"only":[30],"displace":[31],"over":[32,120,154],"regular":[33],"and/or":[34],"flat":[35],"surfaces":[36],"since":[37],"it":[38],"is":[39],"not":[40],"able":[41],"to":[42,44,83,157],"adapt":[43,82],"irregularities":[46,86,122],"projections":[48,88],"wall.":[51,125],"Therefore,":[52],"this":[53],"paper":[54],"presents":[55],"design":[57],"analysis":[59],"an":[61,95],"adaptable":[62],"locomotion":[66],"tasks,":[68],"which":[69,111],"has":[70,107],"four":[76],"wheeled":[77],"legs":[78,166],"that":[79],"easily":[81],"different":[85,121],"building":[90],"facades.":[91],"The":[92],"uses":[94],"Electric":[96],"Ducted":[97],"Fan":[98],"(EDF)":[99],"vortex":[102],"adhesion":[103],"system.":[104],"Each":[105],"leg":[106],"rubber":[109],"cover,":[110],"allows":[112],"higher":[114],"mechanical":[115,140],"adaptability":[116,141,160],"Theoretical":[126],"backgrounds":[127],"open":[129],"issues":[130],"addressed":[132],"considering":[134],"some":[135],"challenging":[136],"problems":[137],"such":[138],"modeling":[142],"well":[144],"kinematic":[146],"static":[148],"analysis.":[149],"Laser":[150],"sensors":[151],"mounted":[153],"measure":[158],"robot,":[163],"between":[164],"body,":[168],"at":[169],"each":[170],"time":[171],"experimental":[174],"tests":[175],"locomotion.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-22T07:34:49.880490","created_date":"2025-10-10T00:00:00"}