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Impact on the Sustainable Development Goals (SDGs)

Analysis of institutional authors

Montes, HCorresponding Author

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January 8, 2026
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Energy-efficiency hexapod walking robot for humanitarian demining

Publicated to: Industrial Robot-The International Journal of Robotics Research and Application. 44 (4): 457-466 - 2017-01-01 44(4), DOI: 10.1108/IR-11-2016-0281

Authors:

Montes, Hector; Mena, Lisbeth; Fernandez, Roemi; Armada, Manuel
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Affiliations

Univ Tecnol Panama - Author
UPM, CSIC, CAR - Author

Abstract

Purpose - The aim of this paper is to introduce a hexapod walking robot specifically designed for applications in humanitarian demining, intended to operate autonomously for several hours. To this end, the paper presents an experimental study for the evaluation of its energy efficiency. Design/methodology/approach - First, the interest of using a walking robot for detection and localization of anti-personnel landmines is described, followed by the description of the mechanical system and the control architecture of the hexapod robot. Second, the energy efficiency of the hexapod robot is assessed to demonstrate its autonomy for performing humanitarian demining tasks. To achieve this, the power consumed by the robot is measured and logged, with a number of different payloads placed on-board (always including the scanning manipulator arm assembled on the robot front end), during the execution of a discontinuous gait on flat terrain. Findings - The hexapod walking robot has demonstrated low energy consumption when it is carrying out several locomotion cycles with different loads on it, which is fundamental to have a desired autonomy. It should be considered that the robot has a mass of about 250 kg and that it has been loaded with additional masses of up to 170 kg during the experiments, with a consumption of mean power of 72 W, approximately. Originality/value - This work provides insight on the use of a walking robot for humanitarian demining tasks, which has high stability and an autonomy of about 3 hours for a robot with high mass and high payload. In addition, the robot can be supervised and controlled remotely, which is an added value when it is working in the field.
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Keywords

Affordable and clean energyAnti-personnel landminesConsumptionControl architectureDesignDesign/methodology/approachDetection and localizationElectric power utilizationEnergy efficiencyEnergy utilizationExplosivesHexapod walking robotHumanitarian deminingLandmine detectionLow energy consumptionManipulatorsMechanical systemsMobile robotsPower consumptionRobotsScanning manipulatorWalking robots

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Industrial Robot-The International Journal of Robotics Research and Application due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2017, it was in position , thus managing to position itself as a Q2 (Segundo Cuartil), in the category Control and Systems Engineering. Notably, the journal is positioned en el Cuartil Q3 for the agency WoS (JCR) in the category Robotics.

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2026-04-26:

  • WoS: 8
  • Scopus: 9
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-26:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 21.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 21 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 3.

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/93578/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 21
  • Downloads: 51
Continuing with the social impact of the work, it is important to emphasize that, due to its content, it can be assigned to the area of interest of ODS 7 - Affordable and clean energy, with a probability of 91% according to the mBERT algorithm developed by Aurora University.
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Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Panama.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Montes Franceschi, Hector) and Last Author (Armada, M).

the author responsible for correspondence tasks has been Montes Franceschi, Hector.

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Project objectives

La aportación persigue los siguientes objetivos: analizar la idoneidad de un robot hexápodo para la detección y localización de minas antipersonales en tareas de desminado humanitario; describir el sistema mecánico y la arquitectura de control del robot; evaluar la eficiencia energética del robot para demostrar su autonomía durante varias horas; medir y registrar el consumo de energía bajo diferentes cargas, incluyendo el brazo manipulador de escaneo; y caracterizar la estabilidad y capacidad de control remoto del robot para su operación segura en campo. Estos objetivos permiten validar la viabilidad de un robot de 250 kg con cargas adicionales de hasta 170 kg y un consumo medio aproximado de 72 W, asegurando una autonomía cercana a 3 horas.
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Most relevant results

El estudio presenta un robot hexápodo diseñado para desminado humanitario, evaluando su eficiencia energética y autonomía. Los resultados más relevantes son: el robot, con una masa aproximada de 250 kg, soportó cargas adicionales de hasta 170 kg durante las pruebas; el consumo medio de potencia registrado fue de aproximadamente 72 W; se demostró una baja energía consumida en ciclos de locomoción discontinuos sobre terreno plano; el sistema mostró una autonomía cercana a las 3 horas; y el robot puede ser supervisado y controlado de forma remota, lo que mejora su operatividad en campo.
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