{"id":"https://openalex.org/W7225409691","doi":"https://doi.org/10.3390/eng7110624","title":"Optimal Design of Ground-Penetrating Robotic Arms Using RFT-Based Ground Resistance Analysis","display_name":"Optimal Design of Ground-Penetrating Robotic Arms Using RFT-Based Ground Resistance Analysis","publication_year":2026,"publication_date":"2026-11-06","ids":{"openalex":"https://openalex.org/W7225409691","doi":"https://doi.org/10.3390/eng7110624"},"language":"en","primary_location":{"id":"doi:10.3390/eng7110624","doi":"https://doi.org/10.3390/eng7110624","is_oa":true,"landing_page_url":"https://doi.org/10.3390/eng7110624","pdf_url":null,"source":{"id":"https://openalex.org/S4210179454","display_name":"Eng\u2014Advances in Engineering","issn_l":"2673-4117","issn":["2673-4117"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Eng","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/eng7110624","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012245020","display_name":"T. Watanabe","orcid":"https://orcid.org/0000-0001-5932-7778","observed_orcids":["https://orcid.org/0000-0001-5932-7778"]},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tomohiro Watanabe","raw_affiliation_strings":["Mechanical Engineering Program, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5932-7778","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Program, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161057793","display_name":"Yoshiki Wakai","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiki Wakai","raw_affiliation_strings":["Mechanical Engineering Program, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Program, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161039709","display_name":"Yuuzi Tamai","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuuzi Tamai","raw_affiliation_strings":["Advanced Materials Science and Technology, Graduate School of Science and Technology, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Materials Science and Technology, Graduate School of Science and Technology, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090419266","display_name":"Kazuhiko HIRAMOTO","orcid":"https://orcid.org/0000-0001-8916-8181","observed_orcids":["https://orcid.org/0000-0001-8916-8181"]},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiko Hiramoto","raw_affiliation_strings":["Mechanical Engineering Program, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8916-8181","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Program, Niigata University, 8050 Ikarashi 2-no-cho, Nishi-ku, Niigata 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5012245020"],"corresponding_institution_ids":["https://openalex.org/I71395657"],"apc_list":{"value":1200,"currency":"CHF","value_usd":1448},"apc_paid":{"value":1200,"currency":"CHF","value_usd":1448},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"11","first_page":"624","last_page":"624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9185000061988831,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9185000061988831,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.06710000336170197,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.007699999958276749,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/resistive-force-theory","display_name":"resistive force theory","score":0.9070000052452087},{"id":"https://openalex.org/keywords/grounding-resistance","display_name":"grounding resistance","score":0.7599999904632568},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"ground reaction force","score":0.9229999780654907},{"id":"https://openalex.org/keywords/link-length-optimization","display_name":"link length optimization","score":0.7919999957084656},{"id":"https://openalex.org/keywords/energy-efficiency","display_name":"energy efficiency","score":0.7850000262260437},{"id":"https://openalex.org/keywords/lunar-and-planetary-exploration","display_name":"lunar and planetary exploration","score":0.7559999823570251},{"id":"https://openalex.org/keywords/subsurface-investigation","display_name":"subsurface investigation","score":0.7649999856948853},{"id":"https://openalex.org/keywords/granular-materials","display_name":"granular materials","score":0.6039999723434448}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5910000205039978},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.5738999843597412},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5375000238418579},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.5367000102996826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4934000074863434},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4779999852180481},{"id":"https://openalex.org/C80107235","wikidata":"https://www.wikidata.org/wiki/Q7162625","display_name":"Penetration (warfare)","level":2,"score":0.44620001316070557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4440000057220459},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42829999327659607},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.4018999934196472},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.39640000462532043},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3610000014305115},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3278000056743622},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.31619998812675476},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.31189998984336853},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.30239999294281006},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C145991859","wikidata":"https://www.wikidata.org/wiki/Q1561445","display_name":"Load cell","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.274399995803833},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2540999948978424},{"id":"https://openalex.org/C3018395757","wikidata":"https://www.wikidata.org/wiki/Q1379672","display_name":"Evaluation methods","level":2,"score":0.2535000145435333},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/eng7110624","doi":"https://doi.org/10.3390/eng7110624","is_oa":true,"landing_page_url":"https://doi.org/10.3390/eng7110624","pdf_url":null,"source":{"id":"https://openalex.org/S4210179454","display_name":"Eng\u2014Advances in Engineering","issn_l":"2673-4117","issn":["2673-4117"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Eng","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/eng7110624","doi":"https://doi.org/10.3390/eng7110624","is_oa":true,"landing_page_url":"https://doi.org/10.3390/eng7110624","pdf_url":null,"source":{"id":"https://openalex.org/S4210179454","display_name":"Eng\u2014Advances in Engineering","issn_l":"2673-4117","issn":["2673-4117"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Eng","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5378999710083008}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1974461875","https://openalex.org/W2212667385","https://openalex.org/W2906542649","https://openalex.org/W2922219569","https://openalex.org/W2947279169","https://openalex.org/W3104964625","https://openalex.org/W3115585503","https://openalex.org/W3164454262","https://openalex.org/W4317037292","https://openalex.org/W4410707569"],"related_works":["https://openalex.org/W2220553362","https://openalex.org/W4366678342","https://openalex.org/W2294405548","https://openalex.org/W4390480958","https://openalex.org/W3115585503","https://openalex.org/W3135156201","https://openalex.org/W2495910924","https://openalex.org/W7117259374","https://openalex.org/W196670915","https://openalex.org/W2144808176"],"abstract_inverted_index":{"In":[0,69],"recent":[1],"years,":[2],"robotic":[3,6,78,124],"systems,":[4],"including":[5],"arms,":[7],"have":[8],"been":[9],"increasingly":[10],"investigated":[11],"for":[12,22,65,115,158,169],"lunar":[13],"and":[14,28,37,60,96,112,137],"planetary":[15],"exploration.":[16,30],"Robotic":[17],"arms":[18],"are":[19,39],"particularly":[20],"important":[21,64],"tasks":[23],"such":[24],"as":[25],"sample":[26],"collection":[27],"subsurface":[29],"Since":[31],"the":[32,35,45,92,97,109,127,132,145,150,154,163,166],"surfaces":[33],"of":[34,47,165],"Moon":[36],"Mars":[38],"covered":[40],"with":[41,126],"soft":[42],"granular":[43],"materials,":[44],"design":[46],"robotic-arm":[48,172],"link":[49,118,128,173],"lengths":[50,119,129],"that":[51,144],"reduce":[52],"energy":[53],"consumption":[54],"while":[55],"considering":[56],"ground":[57,66,72,81],"reaction":[58,73,94],"forces":[59,74,95],"required":[61],"motions":[62],"is":[63],"penetration":[67,82],"tasks.":[68],"this":[70],"study,":[71],"acting":[75],"on":[76,91],"a":[77,113],"arm":[79,125],"during":[80],"were":[83],"estimated":[84,93],"using":[85],"Resistive":[86],"Force":[87],"Theory":[88],"(RFT).":[89],"Based":[90],"force":[98],"manipulability":[99],"ellipsoid,":[100],"an":[101],"evaluation":[102],"index":[103],"R":[104],"was":[105,120,135],"introduced":[106],"to":[107],"evaluate":[108],"actuator":[110],"load,":[111],"method":[114,134,152,168],"determining":[116,170],"energy-efficient":[117,171],"proposed.":[121],"A":[122],"two-link":[123],"determined":[130,148],"by":[131,149],"proposed":[133,151,167],"fabricated":[136],"experimentally":[138],"evaluated.":[139],"The":[140],"experimental":[141],"results":[142],"showed":[143],"link-length":[146],"combinations":[147],"exhibited":[153],"lowest":[155],"RMS":[156],"current":[157],"all":[159],"tested":[160],"trajectories,":[161],"demonstrating":[162],"effectiveness":[164],"lengths.":[174]},"counts_by_year":[],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2026-11-07T00:00:00"}