{"id":"https://openalex.org/W3039427691","doi":"https://doi.org/10.1017/s0263574720000533","title":"Head-Raising Method of Snake Robots Based on the B\u00e9zier Curve","display_name":"Head-Raising Method of Snake Robots Based on the B\u00e9zier Curve","publication_year":2020,"publication_date":"2020-06-30","ids":{"openalex":"https://openalex.org/W3039427691","doi":"https://doi.org/10.1017/s0263574720000533","mag":"3039427691"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720000533","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000533","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039133959","display_name":"Yunhu Zhou","orcid":"https://orcid.org/0000-0002-3532-9477"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhu Zhou","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China"],"raw_orcid":"https://orcid.org/0000-0002-3532-9477","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101470804","display_name":"Yuanfei Zhang","orcid":"https://orcid.org/0000-0003-1022-6882"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuanfei Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fenglei Ni","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100410370","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-3629-2626"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101470804"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.256,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.50059601,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"39","issue":"3","first_page":"503","last_page":"523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9939000010490417,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9790999889373779,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.7722137570381165},{"id":"https://openalex.org/keywords/raising","display_name":"Raising (metalworking)","score":0.7260802984237671},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.6719422340393066},{"id":"https://openalex.org/keywords/head","display_name":"Head (geology)","score":0.5846595764160156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5081126689910889},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47260576486587524},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.43728721141815186},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38374751806259155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3834904432296753},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23712605237960815},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1628093123435974}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.7722137570381165},{"id":"https://openalex.org/C2780589192","wikidata":"https://www.wikidata.org/wiki/Q7285140","display_name":"Raising (metalworking)","level":2,"score":0.7260802984237671},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.6719422340393066},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.5846595764160156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5081126689910889},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47260576486587524},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.43728721141815186},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38374751806259155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3834904432296753},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23712605237960815},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1628093123435974},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574720000533","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000533","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1493577213","https://openalex.org/W1495764123","https://openalex.org/W1532721371","https://openalex.org/W1582843692","https://openalex.org/W1587477963","https://openalex.org/W1838777948","https://openalex.org/W1969023123","https://openalex.org/W2037297443","https://openalex.org/W2067477688","https://openalex.org/W2068127265","https://openalex.org/W2071030813","https://openalex.org/W2093720436","https://openalex.org/W2110118022","https://openalex.org/W2127098615","https://openalex.org/W2132797620","https://openalex.org/W2137383316","https://openalex.org/W2137670317","https://openalex.org/W2140789655","https://openalex.org/W2151761201","https://openalex.org/W2165745738","https://openalex.org/W2258393775","https://openalex.org/W2294388430","https://openalex.org/W2346131912","https://openalex.org/W2510720489","https://openalex.org/W2561055308","https://openalex.org/W2604397499","https://openalex.org/W2624217020","https://openalex.org/W2757739257","https://openalex.org/W2898562011","https://openalex.org/W3172424995","https://openalex.org/W4213056881","https://openalex.org/W4301257840","https://openalex.org/W6697415227"],"related_works":["https://openalex.org/W2349031816","https://openalex.org/W1985929414","https://openalex.org/W2354572397","https://openalex.org/W2286952125","https://openalex.org/W2382114635","https://openalex.org/W4386088090","https://openalex.org/W2166657566","https://openalex.org/W3163570241","https://openalex.org/W2354655943","https://openalex.org/W2385857730"],"abstract_inverted_index":{"SUMMARY":[0],"For":[1],"acquiring":[2],"a":[3,12],"broad":[4],"view":[5],"in":[6,44],"an":[7,28,83],"unknown":[8],"environment,":[9],"we":[10],"proposed":[11,92],"control":[13],"strategy":[14,86],"based":[15,75],"on":[16,76],"the":[17,21,36,48,52,66,70,80,88],"B\u00e9zier":[18,81],"curve":[19,60],"for":[20],"snake":[22],"robot":[23],"raising":[24],"its":[25],"head.":[26],"Then,":[27],"improved":[29,53],"discretization":[30,54],"method":[31],"was":[32,91],"developed":[33],"to":[34,46,64],"accommodate":[35],"backbone":[37,71],"curves":[38],"with":[39],"more":[40],"complex":[41],"shapes.":[42],"Besides,":[43],"order":[45],"determine":[47],"condition":[49],"of":[50,57,69,79,87],"using":[51],"method,":[55],"energy":[56],"framed":[58],"space":[59],"is":[61],"introduced":[62],"originally":[63],"estimate":[65],"shape":[67],"complexity":[68],"curve.":[72],"At":[73],"last,":[74],"degree":[77],"elevation":[78],"curve,":[82],"obstacle":[84],"avoidance":[85],"head-raising":[89],"motion":[90],"and":[93],"validated":[94],"through":[95],"simulation.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}