{"id":"https://openalex.org/W4391027650","doi":"https://doi.org/10.3390/s24020639","title":"The Influence of Micro-Hexapod Walking-Induced Pose Changes on LiDAR-SLAM Mapping Performance","display_name":"The Influence of Micro-Hexapod Walking-Induced Pose Changes on LiDAR-SLAM Mapping Performance","publication_year":2024,"publication_date":"2024-01-19","ids":{"openalex":"https://openalex.org/W4391027650","doi":"https://doi.org/10.3390/s24020639","pmid":"https://pubmed.ncbi.nlm.nih.gov/38276331"},"language":"en","primary_location":{"id":"doi:10.3390/s24020639","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020639","pdf_url":"https://www.mdpi.com/1424-8220/24/2/639/pdf?version=1705656797","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/2/639/pdf?version=1705656797","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110334536","display_name":"Hiroshi Seki","orcid":"https://orcid.org/0000-0002-1769-2627"},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Seki","raw_affiliation_strings":["Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan","Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan;","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044115344","display_name":"Yuhi Yamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuhi Yamamoto","raw_affiliation_strings":["Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan","Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan;","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081090616","display_name":"Sumito Nagasawa","orcid":"https://orcid.org/0000-0003-4684-2898"},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Sumito Nagasawa","raw_affiliation_strings":["Department of Engineering Science and Mechanics, College of Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4684-2898","affiliations":[{"raw_affiliation_string":"Department of Engineering Science and Mechanics, College of Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan","institution_ids":["https://openalex.org/I171481255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5081090616"],"corresponding_institution_ids":["https://openalex.org/I171481255"],"apc_list":{"value":2600,"currency":"CHF","value_usd":2955},"apc_paid":{"value":2600,"currency":"CHF","value_usd":2955},"fwci":0.3605,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.4695504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"24","issue":"2","first_page":"639","last_page":"639"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9921000003814697,"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/hexapod","display_name":"Hexapod","score":0.9748450517654419},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7177128195762634},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7056630253791809},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6517581939697266},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6137957572937012},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5762825608253479},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5690284371376038},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5464928150177002},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5434277057647705},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39260607957839966},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3581710755825043},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.23368483781814575},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13558989763259888}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9748450517654419},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7177128195762634},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7056630253791809},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6517581939697266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6137957572937012},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5762825608253479},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5690284371376038},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5464928150177002},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5434277057647705},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39260607957839966},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3581710755825043},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23368483781814575},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13558989763259888}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24020639","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020639","pdf_url":"https://www.mdpi.com/1424-8220/24/2/639/pdf?version=1705656797","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:38276331","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38276331","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:10820142","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10820142","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:2b6508e3bcab474293858bbbcad4dd9b","is_oa":true,"landing_page_url":"https://doaj.org/article/2b6508e3bcab474293858bbbcad4dd9b","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":"Sensors, Vol 24, Iss 2, p 639 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24020639","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020639","pdf_url":"https://www.mdpi.com/1424-8220/24/2/639/pdf?version=1705656797","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.75}],"awards":[{"id":"https://openalex.org/G5554651220","display_name":"Cooperation Control Platform of Micro-Robots Implemented LiDAR System","funder_award_id":"22K03985","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391027650.pdf","grobid_xml":"https://content.openalex.org/works/W4391027650.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1554148719","https://openalex.org/W1967740178","https://openalex.org/W2018822197","https://openalex.org/W2025313269","https://openalex.org/W2034810702","https://openalex.org/W2035477593","https://openalex.org/W2043147040","https://openalex.org/W2104497675","https://openalex.org/W2118967151","https://openalex.org/W2120640380","https://openalex.org/W2129287493","https://openalex.org/W2159498975","https://openalex.org/W2411431895","https://openalex.org/W2529021032","https://openalex.org/W2743928342","https://openalex.org/W2765608241","https://openalex.org/W2782570570","https://openalex.org/W2782866148","https://openalex.org/W2783801856","https://openalex.org/W2909908358","https://openalex.org/W2981213010","https://openalex.org/W3131753568","https://openalex.org/W3181382745","https://openalex.org/W4229444643","https://openalex.org/W4312389404","https://openalex.org/W4320063646","https://openalex.org/W4376607083","https://openalex.org/W4387350576"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W2991246638"],"abstract_inverted_index":{"Micro-hexapods,":[0],"well-suited":[1],"for":[2,10,15,32,157],"navigating":[3],"tight":[4],"or":[5],"uneven":[6],"spaces":[7],"and":[8,29,54,89,96,104,181],"suitable":[9],"mass":[11],"production,":[12],"hold":[13],"promise":[14],"exploration":[16],"by":[17],"robot":[18,95],"groups,":[19],"particularly":[20],"in":[21,50,78,118,123,129,137],"disaster":[22],"scenarios.":[23],"However,":[24],"research":[25],"on":[26,75,91],"simultaneous":[27],"localization":[28],"mapping":[30],"(SLAM)":[31],"micro-hexapods":[33],"has":[34],"been":[35],"lacking.":[36],"Previous":[37],"studies":[38],"have":[39],"not":[40],"adequately":[41],"addressed":[42],"the":[43,51,71,85,130,141,143,165],"development":[44,144],"of":[45,59,73,145,167],"SLAM":[46,76,87,146],"systems":[47,147],"considering":[48,148],"changes":[49,128,151,174],"body":[52,131,149,172],"axis,":[53,132],"there":[55],"is":[56,152],"a":[57,93,135,168],"lack":[58],"comparative":[60],"evaluation":[61],"with":[62],"other":[63],"movement":[64],"mechanisms.":[65],"This":[66],"study":[67,100],"aims":[68],"to":[69,127,134,154],"assess":[70],"influence":[72],"walking":[74],"capabilities":[77],"hexapod":[79,94,124],"robots.":[80],"Experiments":[81],"were":[82],"conducted":[83],"using":[84,177],"same":[86],"system":[88,169],"LiDAR":[90,105,119],"both":[92],"crawler":[97],"robot.":[98],"The":[99,112],"compares":[101],"map":[102,138],"accuracy":[103],"point":[106,120],"cloud":[107,121],"data":[108,122],"through":[109],"pattern":[110],"matching.":[111],"experimental":[113],"results":[114],"reveal":[115],"significant":[116],"fluctuations":[117],"robots":[125,159],"due":[126],"leading":[133],"decrease":[136],"accuracy.":[139],"In":[140],"future,":[142],"axis":[150,173],"expected":[153],"be":[155],"crucial":[156],"multi-legged":[158],"like":[160],"micro-hexapods.":[161],"Therefore,":[162],"we":[163],"propose":[164],"implementation":[166],"that":[170],"incorporates":[171],"during":[175],"locomotion":[176],"inertial":[178],"measurement":[179],"units":[180],"similar":[182],"sensors.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
