{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T08:19:41Z","timestamp":1773044381603,"version":"3.50.1"},"reference-count":26,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2014,1,14]],"date-time":"2014-01-14T00:00:00Z","timestamp":1389657600000},"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":[[2014,1,14]]},"abstract":"\n Purpose<\/jats:title>\n \u2013 The aim of the research is the development of a small-scale ground mobile robot for surveillance and inspection; the main design goals are mobility in indoor environments with step climbing ability, pivoting around a vertical axis and without oscillations for stable vision, mobility in unstructured environments, low mechanical and control complexity. <\/jats:p>\n <\/jats:sec>\n \n Design\/methodology\/approach<\/jats:title>\n \u2013 The proposed hybrid leg-wheel robot is characterized by a main body equipped with two actuated wheels and two praying Mantis rotating legs; a rear frame with two idle wheels is connected to the main body by a vertical revolute joint for steering; a second revolute joint allows the rear axle to roll. The geometrical synthesis of the robot has been performed using a nondimensional approach for generality's sake. <\/jats:p>\n <\/jats:sec>\n \n Findings<\/jats:title>\n \u2013 The experimental campaign on the first prototype confirms the fulfilment of the design objectives; the robot can efficiently walk in unstructured environments realizing a mixed wheeled-legged locomotion. <\/jats:p>\n <\/jats:sec>\n \n Practical implications<\/jats:title>\n \u2013 Thanks to the operative flexibility of Mantis in indoor and outdoor environments, the range of potential applications is wide: surveillance, inspection, monitoring of dangerous locations, intervention in case of terroristic attacks, military tasks. <\/jats:p>\n <\/jats:sec>\n \n Originality\/value<\/jats:title>\n \u2013 Different from other robots of similar size, Mantis combines high speed and energetic efficiency, stable vision, capability of climbing over high steps, obstacles and unevenness.<\/jats:p>\n <\/jats:sec>","DOI":"10.1108\/ir-02-2013-330","type":"journal-article","created":{"date-parts":[[2014,1,24]],"date-time":"2014-01-24T15:50:57Z","timestamp":1390578657000},"page":"26-36","source":"Crossref","is-referenced-by-count":24,"title":["Mantis: hybrid leg-wheel ground mobile robot"],"prefix":"10.1108","volume":"41","author":[{"given":"Luca","family":"Bruzzone","sequence":"first","affiliation":[]},{"given":"Pietro","family":"Fanghella","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2021010402003446900_b1","doi-asserted-by":"crossref","unstructured":"Altendorfer, R.\n , \n Moore, N.\n , \n Komsuoglu, H.\n , \n Buehler, M.\n , \n Brown, H.B. 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