{"id":"https://openalex.org/W2997199187","doi":"https://doi.org/10.1109/access.2019.2962058","title":"A Novel Resilient Robot: Kinematic Analysis and Experimentation","display_name":"A Novel Resilient Robot: Kinematic Analysis and Experimentation","publication_year":2019,"publication_date":"2019-12-24","ids":{"openalex":"https://openalex.org/W2997199187","doi":"https://doi.org/10.1109/access.2019.2962058","mag":"2997199187"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2962058","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2962058","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941018.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941018.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100455772","display_name":"Fei Wang","orcid":"https://orcid.org/0000-0001-9861-7807"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Wang","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9861-7807","affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077298660","display_name":"Zhiqin Qian","orcid":"https://orcid.org/0000-0002-3460-2806"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqin Qian","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3460-2806","affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103050871","display_name":"Zhiguang Yan","orcid":"https://orcid.org/0000-0002-1772-3286"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiguang Yan","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1772-3286","affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062549436","display_name":"Chenwang Yuan","orcid":"https://orcid.org/0000-0002-6445-5579"},"institutions":[{"id":"https://openalex.org/I32625721","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63","country_code":"CA","type":"education","lineage":["https://openalex.org/I32625721"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chenwang Yuan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6445-5579","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada","institution_ids":["https://openalex.org/I32625721"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447801","display_name":"Wenjun Zhang","orcid":"https://orcid.org/0000-0001-7973-8769"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]},{"id":"https://openalex.org/I32625721","display_name":"University of Saskatchewan","ror":"https://ror.org/010x8gc63","country_code":"CA","type":"education","lineage":["https://openalex.org/I32625721"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Wenjun Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada","School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-7973-8769","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, Canada","institution_ids":["https://openalex.org/I32625721"]},{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":7.0487,"has_fulltext":true,"cited_by_count":96,"citation_normalized_percentile":{"value":0.97980212,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"2885","last_page":"2892"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9765999913215637,"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/T12288","display_name":"Optimization and Search Problems","score":0.9714000225067139,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8189560174942017},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.7053816318511963},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6417971253395081},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.6221708059310913},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.6025332808494568},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5981805920600891},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.5372538566589355},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.5359383821487427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5095401406288147},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4968929588794708},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.45130667090415955},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43613651394844055},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.42951372265815735},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.42024940252304077},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4190959930419922},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4088572561740875},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35617345571517944},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3125099539756775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2628466486930847},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0881088376045227},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08073467016220093}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8189560174942017},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.7053816318511963},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6417971253395081},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.6221708059310913},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.6025332808494568},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5981805920600891},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.5372538566589355},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.5359383821487427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5095401406288147},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4968929588794708},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.45130667090415955},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43613651394844055},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.42951372265815735},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.42024940252304077},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4190959930419922},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4088572561740875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35617345571517944},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3125099539756775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2628466486930847},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0881088376045227},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08073467016220093},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2962058","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2962058","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941018.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a2aeb0b3635d4d798cc6e9b25524d64e","is_oa":false,"landing_page_url":"https://doaj.org/article/a2aeb0b3635d4d798cc6e9b25524d64e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 2885-2892 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2962058","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2962058","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08941018.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2673149110","display_name":null,"funder_award_id":"51375166","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G5876657458","display_name":null,"funder_award_id":"51375166","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2997199187.pdf","grobid_xml":"https://content.openalex.org/works/W2997199187.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W115964014","https://openalex.org/W1589145532","https://openalex.org/W1983696469","https://openalex.org/W1993215355","https://openalex.org/W2007058579","https://openalex.org/W2023885103","https://openalex.org/W2038331462","https://openalex.org/W2047719998","https://openalex.org/W2068661531","https://openalex.org/W2080509217","https://openalex.org/W2094609838","https://openalex.org/W2115438080","https://openalex.org/W2129473102","https://openalex.org/W2142157597","https://openalex.org/W2324851981","https://openalex.org/W2509392815","https://openalex.org/W2759284426","https://openalex.org/W2775255356","https://openalex.org/W2778403987","https://openalex.org/W2790283437","https://openalex.org/W2910070645"],"related_works":["https://openalex.org/W4255006717","https://openalex.org/W2160983430","https://openalex.org/W2139206564","https://openalex.org/W2676734338","https://openalex.org/W2974577080","https://openalex.org/W289779439","https://openalex.org/W153713038","https://openalex.org/W3044674998","https://openalex.org/W4386618377","https://openalex.org/W2256992719"],"abstract_inverted_index":{"A":[0],"resilient":[1,25,90],"robot":[2,5,13,26,60,69],"is":[3,14,33,48],"a":[4,20,36,44],"that":[6,87],"can":[7,95],"recover":[8],"its":[9],"function":[10],"after":[11],"the":[12,55,58,65,68,75,78,88,105,108,120,128],"partially":[15],"damaged.":[16],"In":[17],"this":[18],"paper,":[19],"study":[21,45],"of":[22,57,67,77,92,100,107,123],"an":[23],"under-actuated":[24],"with":[27,104],"closed":[28],"loops":[29],"and":[30,47,111,126],"passive":[31],"joints":[32],"presented.":[34],"First,":[35],"prototype":[37,59],"system":[38],"was":[39,72,81,113],"built,":[40],"which":[41],"serves":[42],"as":[43],"vehicle":[46],"called":[49],"R-Robot":[50,61,79,93,101,124],"II":[51,80,94,125],"for":[52,64],"short.":[53],"Second,":[54],"kinematics":[56],"II,":[62,102],"necessarily":[63],"change":[66],"structure":[70],"in,":[71],"developed.":[73],"Finally,":[74],"experimentation":[76],"carried":[82],"out.":[83],"The":[84,98],"result":[85],"shows":[86],"desired":[89],"behavior":[91],"be":[96],"exhibited.":[97],"architecture":[99],"along":[103],"design":[106],"mechanical":[109],"modules":[110],"simulation,":[112],"reported":[114],"elsewhere.":[115],"This":[116],"paper":[117],"focuses":[118],"on":[119,127],"physical":[121],"realization":[122],"experimentation.":[129]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}