{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:15Z","timestamp":1754157375061,"version":"3.41.2"},"reference-count":7,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2004,4,1]],"date-time":"2004-04-01T00:00:00Z","timestamp":1080777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2004,4,1]]},"abstract":"<jats:p>The purpose of this study is to develop a new mobile system using \u201cleg\u2010type crawler\u201d mechanism. Our proposed \u201cleg\u2010type crawler\u201d mechanism realizes flexible mobility on rough terrain environments. The mobile system, which consists of four leg\u2010type crawler units including mechanisms and controller, can adopt several moving configurations. Since we adopt unimodular structure for the leg\u2010type crawlers, we can replace the legs easily. This paper shows the outline of the proposed leg\u2010type crawler units, as well as basic experimental results, proposal of basic control law for this system and verification by experiment.<\/jats:p>","DOI":"10.1108\/01439910410522892","type":"journal-article","created":{"date-parts":[[2004,2,23]],"date-time":"2004-02-23T17:53:34Z","timestamp":1077558814000},"page":"218-223","source":"Crossref","is-referenced-by-count":4,"title":["Development of mobile system using leg\u2010type crawler for rough terrain"],"prefix":"10.1108","volume":"31","author":[{"given":"Sho","family":"Yokota","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kuniaki","family":"Kawabata","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hisato","family":"Kobayashi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022031820415455400_frd1","doi-asserted-by":"crossref","unstructured":"Hirose, S. (2000), \u201cMechanical design of mobile robot for external environments\u201d, Journal of Robotics Society of Japan, Vol. 18 No. 7, pp. 904\u20108 (in Japanese).","DOI":"10.7210\/jrsj.18.904"},{"key":"key2022031820415455400_frd2","unstructured":"Hirose, S. and Takayama, T. (1998), \u201csouryu\u2010I connected crawler vehicle for ispection of narrow and winding space\u201d, Proc. JMSE ROBOMEC Conf. 1998 in Sendai, CD\u2010ROM (in Japanese)."},{"key":"key2022031820415455400_frd3","doi-asserted-by":"crossref","unstructured":"Hirose, S., Sensu, T. and Aoki, S. (1992), \u201cThe TAQT carrier: a practical terrain\u2010adaptive quadru\u2010track carrier robot\u201d, Proc. IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2068\u201073.","DOI":"10.1109\/IROS.1992.601941"},{"key":"key2022031820415455400_frd4","unstructured":"Iwamoto, T., Yamamoto, H., Honma, K., Fujie, M. and Nakano, Y. (1984), \u201cMechanism and control of transformable crawler vehicle with active adaptability to terrain variations\u201d, Journal of the Robotics Society of Japan, Vol. 2 No. 3, p. 24 (in Japanese)."},{"key":"key2022031820415455400_frd5","doi-asserted-by":"crossref","unstructured":"Kawabata, K., Suzuki, T. and Kobayashi, H. (1998), \u201cControl method of walking robot as plural manipulators system\u201d, Journal of the Robotics Society of Japan, Vol. 17 No. 3, p. 106 (in Japanese).","DOI":"10.7210\/jrsj.17.416"},{"key":"key2022031820415455400_frd6","doi-asserted-by":"crossref","unstructured":"Tsumaki, T. (2000), \u201cRobots for dangerous operation\u201d, Journal of Robotics Society of Japan, Vol. 18 No. 7, pp. 946\u201050 (in Japanese).","DOI":"10.7210\/jrsj.18.946"},{"key":"key2022031820415455400_frd7","unstructured":"Yokota, S., Kawabata, K. and Kobayashi, H. (2002), \u201cDevelopment of mobile system using leg\u2010type crawler for rough terrain\u201d, Proc. Climbing and Walking Robots (CLAWAR) 2002, pp. 899\u2010906."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910410522892","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410522892\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910410522892\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:49:45Z","timestamp":1753400985000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/31\/2\/218-223\/177199"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,4,1]]},"references-count":7,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2004,4,1]]}},"alternative-id":["10.1108\/01439910410522892"],"URL":"https:\/\/doi.org\/10.1108\/01439910410522892","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2004,4,1]]}}}