{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T16:33:27Z","timestamp":1774370007773,"version":"3.50.1"},"reference-count":13,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2006,7,1]],"date-time":"2006-07-01T00:00:00Z","timestamp":1151712000000},"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":[[2006,7,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Introduces the Lemur IIb robot which allows the investigation of the technical hurdles associated with free climbing in steep terrain. These include controlling the distribution of contact forces during motion to ensure holds remain intact and to enable mobility through over\u2010hangs. Efforts also can be applied to further<jats:italic>in\u2010situ<\/jats:italic>characterization of the terrain, such as testing the strength of the holds and developing models of the individual holds and a terrain map.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A free climbing robot system was designed and integrated. Climbing end\u2010effector were investigated and operational algorithms were developed.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>A 4\u2010limbed robotic system used to investigate several aspects of climbing system design including the mechanical system (novel end\u2010effectors, kinematics, joint design), sensing (force, attitude, vision), low\u2010level control (force\u2010control for tactile sensing and stability management), and planning (joint trajectories for stability). A new class of Ultrasonic\/Sonic Driller\/Corer (USDC) end\u2010effectors capable of creating \u201cholds\u201d in rock and soil as well as sampling those substrates.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>Planetary exploration of cliff faces. Search and rescue in steep terrain. Robotic scouting and surveillance in natural environments.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The technologies developed on this platform will be used to build an advanced system that will climb slopes up to and including vertical faces and overhangs and be able to react forces to maintain stability and do useful work (e.g. sample acquisition\/instrument placement).<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910610667872","type":"journal-article","created":{"date-parts":[[2006,7,4]],"date-time":"2006-07-04T08:18:48Z","timestamp":1152001128000},"page":"265-269","source":"Crossref","is-referenced-by-count":33,"title":["Lemur IIb: a robotic system for steep terrain access"],"prefix":"10.1108","volume":"33","author":[{"given":"Brett","family":"Kennedy","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Avi","family":"Okon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hrand","family":"Aghazarian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mircea","family":"Badescu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoqi","family":"Bao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yoseph","family":"Bar\u2010Cohen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zensheu","family":"Chang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Borna E.","family":"Dabiri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mike","family":"Garrett","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lee","family":"Magnone","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stewart","family":"Sherrit","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022021220132857400_b1","doi-asserted-by":"crossref","unstructured":"Badescu, M., Bao, X., Bar\u2010Cohen, Y., Chang, Z., Dabiri, B.E., Kennedy, B. and Sherrit, S. (2005), \u201cAdapting the ultrasonic\/sonic driller\/corer for walking\/climbing robotic applications\u201d, Proceedings of the SPIE Annual International Symposium on Smart Structures and Materials, SPIE, Vol. 5762\u201022.","DOI":"10.1117\/12.598870"},{"key":"key2022021220132857400_b2","doi-asserted-by":"crossref","unstructured":"Bares, J. and Wettergreen, D. (1999), \u201cDante II: technical description, results and lessons learned\u201d, International Journal of Robotics Research, Vol. 18 No. 7, pp. 621\u201049.","DOI":"10.1177\/02783649922066475"},{"key":"key2022021220132857400_b4","doi-asserted-by":"crossref","unstructured":"Bretl, T., Lall, S., Latombe, J.C. and Rock, S. (2004b), \u201cMulti\u2010step motion planning for free\u2010climbing robots\u201d, paper presented at Workshop on the Algorithmic Foundations of Robotics (WAFR).","DOI":"10.1007\/10991541_6"},{"key":"key2022021220132857400_b3","unstructured":"Bretl, T., Rock, S., Latombe, J.C., Kennedy, B. and Aghazarian, H. 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