{"id":"https://openalex.org/W4210460121","doi":"https://doi.org/10.1002/aisy.202100195","title":"The Need for and Feasibility of Alternative Ground Robots to Traverse Sandy and Rocky Extraterrestrial Terrain","display_name":"The Need for and Feasibility of Alternative Ground Robots to Traverse Sandy and Rocky Extraterrestrial Terrain","publication_year":2022,"publication_date":"2022-01-27","ids":{"openalex":"https://openalex.org/W4210460121","doi":"https://doi.org/10.1002/aisy.202100195"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202100195","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202100195","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202100195","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202100195","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100369775","display_name":"Chen Li","orcid":"https://orcid.org/0000-0001-7516-3646"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I6059380","display_name":"University of Baltimore","ror":"https://ror.org/024gw2733","country_code":"US","type":"education","lineage":["https://openalex.org/I6059380"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chen Li","raw_affiliation_strings":["Department of Mechanical Engineering Johns Hopkins University  3400 N. Charles St Baltimore 20218 MD USA","Department of Mechanical Engineering, Johns Hopkins University, 3400 N. Charles St, Baltimore, 20218 MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Johns Hopkins University  3400 N. Charles St Baltimore 20218 MD USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I6059380"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, 3400 N. Charles St, Baltimore, 20218 MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071871794","display_name":"K. W. Lewis","orcid":"https://orcid.org/0000-0003-3412-803X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I6059380","display_name":"University of Baltimore","ror":"https://ror.org/024gw2733","country_code":"US","type":"education","lineage":["https://openalex.org/I6059380"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Lewis","raw_affiliation_strings":["Department of Earth & Planetary Sciences Johns Hopkins University  3400 N. Charles St Baltimore 20218 MD USA","Department of Earth & Planetary Sciences, Johns Hopkins University, 3400 N. Charles St, Baltimore, 20218 MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Earth & Planetary Sciences Johns Hopkins University  3400 N. Charles St Baltimore 20218 MD USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I6059380"]},{"raw_affiliation_string":"Department of Earth & Planetary Sciences, Johns Hopkins University, 3400 N. Charles St, Baltimore, 20218 MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100369775"],"corresponding_institution_ids":["https://openalex.org/I145311948","https://openalex.org/I6059380"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":1.1444,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.74060529,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"5","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/terrain","display_name":"Terrain","score":0.9067069292068481},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8932343125343323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6873010993003845},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"Planetary exploration","score":0.5974993705749512},{"id":"https://openalex.org/keywords/extraterrestrial-life","display_name":"Extraterrestrial life","score":0.5583674311637878},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.5007407665252686},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.4786299765110016},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4388645887374878},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4229000210762024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4073106050491333},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33647793531417847},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3202654719352722},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.3035646080970764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24904483556747437},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13371938467025757},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07452553510665894},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.07431909441947937}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9067069292068481},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8932343125343323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6873010993003845},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.5974993705749512},{"id":"https://openalex.org/C98536072","wikidata":"https://www.wikidata.org/wiki/Q181508","display_name":"Extraterrestrial life","level":2,"score":0.5583674311637878},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.5007407665252686},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.4786299765110016},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4388645887374878},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4229000210762024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4073106050491333},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33647793531417847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3202654719352722},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.3035646080970764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24904483556747437},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13371938467025757},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07452553510665894},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.07431909441947937},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/aisy.202100195","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202100195","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202100195","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2201.11984","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2201.11984","pdf_url":"https://arxiv.org/pdf/2201.11984","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:doaj.org/article:9e6076aa16b5472191a01862129d4e26","is_oa":true,"landing_page_url":"https://doaj.org/article/9e6076aa16b5472191a01862129d4e26","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 5, Iss 3, Pp n/a-n/a (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202100195","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202100195","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202100195","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.4399999976158142,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G3735855472","display_name":null,"funder_award_id":"Space@Hopkins","funder_id":"https://openalex.org/F4320310145","funder_display_name":"Johns Hopkins University"}],"funders":[{"id":"https://openalex.org/F4320306133","display_name":"Burroughs Wellcome Fund","ror":"https://ror.org/01d35cw23"},{"id":"https://openalex.org/F4320306253","display_name":"Arnold and Mabel Beckman Foundation","ror":"https://ror.org/05avmtm72"},{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4210460121.pdf","grobid_xml":"https://content.openalex.org/works/W4210460121.grobid-xml"},"referenced_works_count":122,"referenced_works":["https://openalex.org/W1481659984","https://openalex.org/W1532360000","https://openalex.org/W1563220567","https://openalex.org/W1566345979","https://openalex.org/W1573670163","https://openalex.org/W1585443288","https://openalex.org/W1587329757","https://openalex.org/W1822001265","https://openalex.org/W1853143499","https://openalex.org/W1908079484","https://openalex.org/W1974461875","https://openalex.org/W1975230295","https://openalex.org/W1983815930","https://openalex.org/W1991866013","https://openalex.org/W1992878443","https://openalex.org/W1997568160","https://openalex.org/W2002560324","https://openalex.org/W2007795301","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2009797417","https://openalex.org/W2010026582","https://openalex.org/W2020795076","https://openalex.org/W2024596103","https://openalex.org/W2032672272","https://openalex.org/W2049524739","https://openalex.org/W2049904216","https://openalex.org/W2060039135","https://openalex.org/W2072901137","https://openalex.org/W2079830044","https://openalex.org/W2090340418","https://openalex.org/W2095481616","https://openalex.org/W2121406357","https://openalex.org/W2125096161","https://openalex.org/W2136684951","https://openalex.org/W2136779670","https://openalex.org/W2143355985","https://openalex.org/W2144710407","https://openalex.org/W2149464084","https://openalex.org/W2153105722","https://openalex.org/W2158464189","https://openalex.org/W2161427949","https://openalex.org/W2163668399","https://openalex.org/W2164185890","https://openalex.org/W2164446354","https://openalex.org/W2169935417","https://openalex.org/W2212667385","https://openalex.org/W2254021446","https://openalex.org/W2261400918","https://openalex.org/W2279369962","https://openalex.org/W2279703933","https://openalex.org/W2284782695","https://openalex.org/W2342507838","https://openalex.org/W2400662885","https://openalex.org/W2481081394","https://openalex.org/W2518005972","https://openalex.org/W2579078533","https://openalex.org/W2590154366","https://openalex.org/W2605866784","https://openalex.org/W2610753078","https://openalex.org/W2695222241","https://openalex.org/W2730780157","https://openalex.org/W2757435221","https://openalex.org/W2785718782","https://openalex.org/W2786967296","https://openalex.org/W2793864963","https://openalex.org/W2806316517","https://openalex.org/W2896038246","https://openalex.org/W2906542649","https://openalex.org/W2909067076","https://openalex.org/W2911087563","https://openalex.org/W2915869593","https://openalex.org/W2922219569","https://openalex.org/W2931123523","https://openalex.org/W2937335580","https://openalex.org/W2938306870","https://openalex.org/W2951519982","https://openalex.org/W2963184939","https://openalex.org/W2968072845","https://openalex.org/W2970129699","https://openalex.org/W2971826558","https://openalex.org/W3008098823","https://openalex.org/W3013962797","https://openalex.org/W3014615603","https://openalex.org/W3015889598","https://openalex.org/W3025528286","https://openalex.org/W3034963602","https://openalex.org/W3037201492","https://openalex.org/W3044660841","https://openalex.org/W3047139575","https://openalex.org/W3048579935","https://openalex.org/W3093922502","https://openalex.org/W3093993451","https://openalex.org/W3094577972","https://openalex.org/W3099949032","https://openalex.org/W3099952208","https://openalex.org/W3100472504","https://openalex.org/W3100878064","https://openalex.org/W3101025130","https://openalex.org/W3104876774","https://openalex.org/W3112160583","https://openalex.org/W3130566557","https://openalex.org/W3136521675","https://openalex.org/W3137758268","https://openalex.org/W3154046259","https://openalex.org/W3154318216","https://openalex.org/W3154646763","https://openalex.org/W3156332758","https://openalex.org/W3156955855","https://openalex.org/W3164666578","https://openalex.org/W3171134957","https://openalex.org/W3173459923","https://openalex.org/W3183030415","https://openalex.org/W3188968108","https://openalex.org/W4214879137","https://openalex.org/W4226069944","https://openalex.org/W4226524087","https://openalex.org/W4232866751","https://openalex.org/W4239050505","https://openalex.org/W4285502049","https://openalex.org/W4294656025","https://openalex.org/W4309453525"],"related_works":["https://openalex.org/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W2136213179","https://openalex.org/W3132129980","https://openalex.org/W2545128643","https://openalex.org/W2153137868","https://openalex.org/W2160969076","https://openalex.org/W296739210"],"abstract_inverted_index":{"Robotic":[0],"spacecrafts":[1],"have":[2,40,78],"helped":[3],"expand":[4],"the":[5,34,111,149,160,180,195],"reach":[6,196],"for":[7,66,182,188],"many":[8,70],"planetary":[9,15,67,198],"exploration":[10,16],"missions.":[11],"Most":[12],"ground":[13,142],"mobile":[14],"robots":[17,77],"use":[18],"wheeled":[19,22,37],"or":[20],"modified":[21],"platforms.":[23],"Although":[24,69],"extraordinarily":[25],"successful":[26],"at":[27,75],"completing":[28],"intended":[29],"mission":[30],"goals,":[31],"because":[32],"of":[33,36,94,97,114,124,152,154,162],"limitations":[35],"locomotion,":[38],"they":[39],"been":[41],"largely":[42],"limited":[43],"to":[44,91,158],"benign,":[45],"solid":[46],"terrain":[47,51,61,74,109,192],"and":[48,55,83,117,126,134,168,173,193],"avoided":[49],"extreme":[50,190],"with":[52,107,143],"loose":[53,166],"soil/sand":[54,167],"large":[56,170],"rocks.":[57],"Unfortunately,":[58],"such":[59,73],"challenging":[60],"is":[62,86],"often":[63],"scientifically":[64],"interesting":[65],"geology.":[68],"animals":[71],"traverse":[72],"ease,":[76],"not":[79],"matched":[80],"their":[81],"performance":[82],"robustness.":[84],"This":[85],"in":[87,148,197],"major":[88],"part":[89],"due":[90],"a":[92],"lack":[93],"fundamental":[95,122],"understanding":[96,123],"how":[98],"effective":[99],"locomotion":[100,138,164],"can":[101],"be":[102],"generated":[103],"from":[104],"controlled":[105],"interaction":[106,129,156],"complex":[108],"on":[110,139,165],"same":[112],"level":[113],"flight":[115],"aerodynamics":[116],"underwater":[118],"vehicle":[119],"hydrodynamics.":[120],"Early":[121],"legged":[125],"limbless":[127,174],"locomotor\u2013ground":[128],"has":[130],"already":[131],"enabled":[132],"stable":[133],"efficient":[135],"bioinspired":[136,163],"robot":[137],"relatively":[140],"flat":[141],"small":[144],"obstacles.":[145,171],"Recent":[146],"progress":[147],"new":[150],"field":[151],"terradynamics":[153,177],"locomotor\u2013terrain":[155],"begins":[157],"reveal":[159],"principles":[161],"over":[169],"Multilegged":[172],"platforms":[175,187],"using":[176],"insights":[178],"hold":[179],"promise":[181],"serving":[183],"as":[184],"robust":[185],"alternative":[186],"traversing":[189],"extraterrestrial":[191],"expanding":[194],"exploration.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}