{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,3]],"date-time":"2025-06-03T04:05:46Z","timestamp":1748923546117,"version":"3.41.0"},"reference-count":17,"publisher":"Fuji Technology Press Ltd.","issue":"6","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robot. Mechatron.","JRM"],"published-print":{"date-parts":[[2011,12,20]]},"abstract":"<jats:p>We have been developing an arm-equipped, tracked vehicle, \u201cHELIOS IX,\u201d for search and rescue tasks in urban environments. HELIOS IX has to be operated by remote control to carry out several tasks, such as the opening of doors, negotiation of stairs, and handling of objects. In this paper, the mechanical design and the system architecture that satisfy the required specifications are described. Through experiments, it is verified that the robot can climb stairs smoothly by using a part of its arm as a sled, and it can open and pass through a door by utilizing the configuration of the vehicle.<\/jats:p>","DOI":"10.20965\/jrm.2011.p1031","type":"journal-article","created":{"date-parts":[[2016,4,14]],"date-time":"2016-04-14T06:23:03Z","timestamp":1460614983000},"page":"1031-1040","source":"Crossref","is-referenced-by-count":10,"title":["Development of HELIOS IX: An Arm-Equipped Tracked Vehicle"],"prefix":"10.20965","volume":"23","author":[{"given":"Koji","family":"Ueda","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"name":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michele","family":"Guarnieri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takao","family":"Inoh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paulo","family":"Debenest","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryuichi","family":"Hodoshima","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Edwardo F.","family":"Fukushima","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shigeo","family":"Hirose","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"name":"Hibot Corporation, Meguro Daiichi Hanatani Bldg. 801, 2-18-3 Shimomeguro, Meguro-ku, Tokyo 153-0064, Japan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"name":"Atelier E-N, 1-36-4 Hashikadai, Narita, Chiba, Japan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"name":"Saitama University, 255 Shimo-Okubo, Sakura-ku, Saitama-shi, Saitama 338-8570, Japan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"8550","published-online":{"date-parts":[[2011,12,20]]},"reference":[{"key":"key-10.20965\/jrm.2011.p1031-1","unstructured":"W. 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Takamori, \u201cDevelopment of a door opening system on rescue robot for search \u201cUMRS-2007\u201d,\u201d In SICE Annual Conference, 2008, pp. 2062-2065, 2008.","DOI":"10.1109\/SICE.2008.4655001"},{"key":"key-10.20965\/jrm.2011.p1031-10","doi-asserted-by":"crossref","unstructured":"M. Guarnieri, P. Debenest, T. Inoh, E. Fukushima, and S. Hirose, \u201cHelios VII: a new vehicle for disaster response-mechanical design and basic experiments,\u201d Advanced Robotics, Vol.19, No.8, pp. 901-927, 2005.","DOI":"10.1163\/1568553055011492"},{"key":"key-10.20965\/jrm.2011.p1031-11","doi-asserted-by":"crossref","unstructured":"M. Guarnieri, I. Takao, E. Fukushima, and S. Hirose, \u201cHELIOS VIII search and rescue robot: Design of an adaptive gripper and system improvements,\u201d In Proc. of IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1775-1780, 2007.","DOI":"10.1109\/IROS.2007.4399372"},{"key":"key-10.20965\/jrm.2011.p1031-12","doi-asserted-by":"crossref","unstructured":"P. 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