{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,21]],"date-time":"2026-01-21T10:25:09Z","timestamp":1768991109351,"version":"3.49.0"},"reference-count":5,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2010,5,3]],"date-time":"2010-05-03T00:00:00Z","timestamp":1272844800000},"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":[[2010,5,3]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to describe the design and prototype implementation of the \u201cCable Crawler\u201d, a mobile teleoperated robot for the inspection of high\u2010voltage power lines which rides on the topmost ground cable. By not being limited to just moving from mast to mast, it implements an innovative mechanism that allows for crossing a set of mast tops as well as smaller obstacles autonomously.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>After a brief overview of the state\u2010of\u2010the\u2010art for this application, the basic concept of the robot is presented \u2013 which basically consists of a chassis and six motorized rubber\u2010coated rollers, two in a horizontal position to take the weight and four vertical ones. The four vertical rollers are pressed onto the wire by springs, which guarantees slip\u2010less propulsion in difficult situations. The detailed design of the most challenging components is presented, as well as the successful tests with the prototype.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The feasibility of the concept is proven with a prototype implementation and successful test results.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>With a mass of 58\u2009kg and only six drives, it consequently follows the industry's wish to have a robust, easy to maintain and rather cheap solution. Regarding the fields examined by the robot, the project concentrated on the detection of trees growing into proximity of the wires. Future work will mainly stress in further reducing the robot's mass and in facilitating its transport to the mast by the workers.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The presented prototype allows for moving on the topmost ground cable of high\u2010voltage power\u2010lines and to passively roll over mast tops and smaller obstacles. With these properties, it is able to inspect long distances of cables in an autonomous way and by using a relatively low\u2010cost and robust robot.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911011037659","type":"journal-article","created":{"date-parts":[[2010,5,1]],"date-time":"2010-05-01T07:02:37Z","timestamp":1272697357000},"page":"256-262","source":"Crossref","is-referenced-by-count":26,"title":["Cable\u2010crawler \u2013 robot for the inspection of high\u2010voltage power lines that can passively roll over mast tops"],"prefix":"10.1108","volume":"37","author":[{"given":"Maleachi","family":"B\u00fchringer","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jan","family":"Berchtold","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Melanie","family":"B\u00fcchel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Claus","family":"Dold","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"B\u00fctikofer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mevina","family":"Feuerstein","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wolfgang","family":"Fischer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christian","family":"Bermes","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022021320294083800_b1","unstructured":"Katrasnik, J. (2008), \u201cNew robot for power line inspection\u201d, Proceedings of the RAM, Chengdu, 21\u201024 September, pp. 1195\u2010200."},{"key":"key2022021320294083800_b2","unstructured":"Montambault, S. and Pouliot, N. (2004), \u201cOn the economic and strategic impact of robotics applied to transmission line maintenance\u201d, paper presented at the Konferencja ICOLIM, Bucharest."},{"key":"key2022021320294083800_b3","unstructured":"Montambault, S. and Pouliot, N. (2007), \u201cDesign and validation of a mobile robot for power line, inspection and maintenance\u201d, paper presented at the 6th International Conference on Field and Service Robotics (FSR), Chamonix."},{"key":"key2022021320294083800_b4","unstructured":"Peungsungwa1, S., Pungsiri, B., Chamnongthai, K. and Okuda, M. (2001), \u201cAutonomous robot for a power transmission line inspection\u201d, paper presented at the ISCAS, Sydney."},{"key":"key2022021320294083800_b5","doi-asserted-by":"crossref","unstructured":"Toussaint, K., Pouliot, N. and Montambault, S. (2009), \u201cTransmission line maintenance robots capable of crossing obstacles: state\u2010of\u2010the\u2010art review and challenges ahead\u201d, Journal of Field Robotics, Vol. 26 No. 5, pp. 477\u201099.","DOI":"10.1002\/rob.20295"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439911011037659","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911011037659\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911011037659\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:35Z","timestamp":1753401035000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/37\/3\/256-262\/182875"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,5,3]]},"references-count":5,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2010,5,3]]}},"alternative-id":["10.1108\/01439911011037659"],"URL":"https:\/\/doi.org\/10.1108\/01439911011037659","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2010,5,3]]}}}