{"id":"https://openalex.org/W2999092743","doi":"https://doi.org/10.1109/access.2020.2964486","title":"Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve","display_name":"Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W2999092743","doi":"https://doi.org/10.1109/access.2020.2964486","mag":"2999092743"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2964486","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2964486","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08950390.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/ielx7/6287639/8948470/08950390.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100365821","display_name":"Dongfang Li","orcid":"https://orcid.org/0000-0001-9863-4172"},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]},{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dongfang Li","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China","Shandong University of Technology, Zibo, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Shandong University of Technology, Zibo, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100406876","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0001-6418-4193"},"institutions":[{"id":"https://openalex.org/I3017770710","display_name":"China North Industries Group Corporation (China)","ror":"https://ror.org/00cwdhv97","country_code":"CN","type":"company","lineage":["https://openalex.org/I3017770710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["China North Industries Corp, Beijing, China"],"affiliations":[{"raw_affiliation_string":"China North Industries Corp, Beijing, China","institution_ids":["https://openalex.org/I3017770710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101824760","display_name":"Hongbin Deng","orcid":"https://orcid.org/0000-0002-0725-2986"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Deng","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101875087","display_name":"Yiran Wei","orcid":"https://orcid.org/0000-0003-1755-693X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiran Wei","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100365821"],"corresponding_institution_ids":["https://openalex.org/I119203015","https://openalex.org/I125839683"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.4805,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.80087646,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"8346","last_page":"8360"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9980999827384949,"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":0.9980999827384949,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5337038636207581},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5330295562744141},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5123985409736633},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4836503267288208},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4820593297481537},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4555831849575043},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45407944917678833},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4134891927242279},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35658013820648193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2591478228569031},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1546303927898407},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13456866145133972},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09897354245185852}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5337038636207581},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5330295562744141},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5123985409736633},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4836503267288208},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4820593297481537},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4555831849575043},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45407944917678833},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4134891927242279},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35658013820648193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2591478228569031},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1546303927898407},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13456866145133972},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09897354245185852},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2964486","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2964486","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08950390.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:b410017950154720b2ebd3620bbe64a8","is_oa":true,"landing_page_url":"https://doaj.org/article/b410017950154720b2ebd3620bbe64a8","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 8346-8360 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2964486","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2964486","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08950390.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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5899999737739563}],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1781654182","display_name":null,"funder_award_id":"5177041109","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","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"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2999092743.pdf","grobid_xml":"https://content.openalex.org/works/W2999092743.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W164869313","https://openalex.org/W1570481159","https://openalex.org/W1739716134","https://openalex.org/W1939016165","https://openalex.org/W1967545995","https://openalex.org/W1969023123","https://openalex.org/W1970890205","https://openalex.org/W1982921599","https://openalex.org/W1983518156","https://openalex.org/W2002525207","https://openalex.org/W2098224524","https://openalex.org/W2110612435","https://openalex.org/W2123431998","https://openalex.org/W2125096161","https://openalex.org/W2126621973","https://openalex.org/W2128095394","https://openalex.org/W2129974228","https://openalex.org/W2138939375","https://openalex.org/W2143030465","https://openalex.org/W2341842997","https://openalex.org/W2504805297","https://openalex.org/W2585254089","https://openalex.org/W2586854316","https://openalex.org/W2620811908","https://openalex.org/W2623616873","https://openalex.org/W2737312317","https://openalex.org/W2767892249","https://openalex.org/W2894903623","https://openalex.org/W2898667909","https://openalex.org/W2909032350","https://openalex.org/W2913335728","https://openalex.org/W2913968845","https://openalex.org/W2940920339","https://openalex.org/W2951208783","https://openalex.org/W2952029833","https://openalex.org/W6674883448","https://openalex.org/W6680942216"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W4312096302","https://openalex.org/W2005471069","https://openalex.org/W2075639008"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,68,80,133],"study":[3],"the":[4,39,52,58,65,73,82,100,103,107,110,135,139,143,151,157,161,168,171,189],"winding":[5],"motion":[6,19,136,147,172],"of":[7,14,22,44,61,64,106,138,153,160,170,175],"a":[8,18,23,45,115,176],"multi-joint":[9,24,46,162,177],"snake-like":[10,25,47,178],"robot":[11,26,48,66,108,140,164,179],"with":[12,87],"multi-degree":[13],"redundancy":[15],"in":[16,35],"plane,":[17],"planning":[20,148,173],"algorithm":[21,174],"based":[27,141,180],"on":[28,142,156,181],"improved":[29,79,111,144,182],"Serpenoid":[30,75,112,145,183],"curve":[31,55,76,113,146,184],"equation":[32,56,77,185],"is":[33,78,186],"proposed":[34],"this":[36],"paper.":[37],"Firstly,":[38],"kinematics":[40],"and":[41,51,57,93,109,118,127,150],"dynamics":[42],"models":[43],"are":[49,70],"established,":[50],"joint":[53,63,88],"angle":[54,89,95],"thrust":[59,105],"expression":[60],"each":[62],"relative":[67],"time":[69],"obtained.":[71],"Next,":[72],"existing":[74],"calculate":[81],"axial":[83],"bending":[84],"moment":[85],"function":[86],"amplitude":[90],"adjustment":[91,96],"factor":[92],"turn":[94],"factor.":[97],"By":[98],"analyzing":[99],"relationship":[101],"between":[102],"forward":[104,158],"equation,":[114],"simple,":[116],"efficient":[117],"reliable":[119],"closed-loop":[120],"control":[121],"system":[122],"was":[123,165],"designed.":[124],"Then,":[125],"MATLAB":[126],"SimWise4D":[128],"were":[129],"used":[130],"for":[131],"simulation":[132],"obtain":[134],"trajectory":[137],"algorithm,":[149],"influence":[152],"different":[154],"parameters":[155],"velocity":[159],"snake":[163],"analyzed.":[166],"Finally,":[167],"validity":[169],"verified":[187],"by":[188],"actual":[190],"experiment.":[191]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
