{"id":"https://openalex.org/W2999717467","doi":"https://doi.org/10.1109/access.2020.2965327","title":"A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems","display_name":"A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W2999717467","doi":"https://doi.org/10.1109/access.2020.2965327","mag":"2999717467"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2965327","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2965327","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08954702.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/ielx7/6287639/8948470/08954702.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100741008","display_name":"Ning Tan","orcid":"https://orcid.org/0000-0003-0710-6409"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Tan","raw_affiliation_strings":["Key Laboratory of Machine Intelligence and Advanced Computing, School of Data and Computer Science, Ministry of Education, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0710-6409","affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Intelligence and Advanced Computing, School of Data and Computer Science, Ministry of Education, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086990384","display_name":"Abdullah Aamir Hayat","orcid":"https://orcid.org/0000-0001-6141-4600"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Abdullah Aamir Hayat","raw_affiliation_strings":["Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6141-4600","affiliations":[{"raw_affiliation_string":"Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mohan Rajesh Elara","raw_affiliation_strings":["Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6504-1530","affiliations":[{"raw_affiliation_string":"Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033426375","display_name":"Kristin L. Wood","orcid":"https://orcid.org/0000-0002-0553-5528"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kristin L. Wood","raw_affiliation_strings":["Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0553-5528","affiliations":[{"raw_affiliation_string":"Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"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":6.6546,"has_fulltext":true,"cited_by_count":85,"citation_normalized_percentile":{"value":0.97824098,"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":"13969","last_page":"13986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9887999892234802,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9686999917030334,"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/reconfigurability","display_name":"Reconfigurability","score":0.9977966547012329},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.8107317686080933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6773983240127563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6358239650726318},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5194770693778992},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.419220894575119},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3973146080970764},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3774015009403229},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.05168408155441284}],"concepts":[{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.9977966547012329},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.8107317686080933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6773983240127563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6358239650726318},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5194770693778992},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.419220894575119},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3973146080970764},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3774015009403229},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.05168408155441284}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2965327","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2965327","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08954702.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:2695b0d6b4304492933ea2787050d63b","is_oa":true,"landing_page_url":"https://doaj.org/article/2695b0d6b4304492933ea2787050d63b","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":"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 13969-13986 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2965327","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2965327","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08954702.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/G7492841179","display_name":null,"funder_award_id":"RGAST1702","funder_id":"https://openalex.org/F4320324110","funder_display_name":"Singapore University of Technology and Design"}],"funders":[{"id":"https://openalex.org/F4320316083","display_name":"Tencent","ror":"https://ror.org/00hhjss72"},{"id":"https://openalex.org/F4320324110","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2999717467.pdf","grobid_xml":"https://content.openalex.org/works/W2999717467.grobid-xml"},"referenced_works_count":129,"referenced_works":["https://openalex.org/W55808248","https://openalex.org/W304455224","https://openalex.org/W1494697322","https://openalex.org/W1515749184","https://openalex.org/W1526777436","https://openalex.org/W1538912178","https://openalex.org/W1572125035","https://openalex.org/W1575924372","https://openalex.org/W1579496320","https://openalex.org/W1628976755","https://openalex.org/W1775716201","https://openalex.org/W1822274696","https://openalex.org/W1900717904","https://openalex.org/W1969677503","https://openalex.org/W1972673244","https://openalex.org/W1976620677","https://openalex.org/W1983449914","https://openalex.org/W1988251166","https://openalex.org/W1990795335","https://openalex.org/W1994444307","https://openalex.org/W1997135382","https://openalex.org/W1999730797","https://openalex.org/W2001034851","https://openalex.org/W2001737450","https://openalex.org/W2002216615","https://openalex.org/W2007079513","https://openalex.org/W2007904825","https://openalex.org/W2013549602","https://openalex.org/W2014503261","https://openalex.org/W2019665943","https://openalex.org/W2023457960","https://openalex.org/W2025613329","https://openalex.org/W2025888225","https://openalex.org/W2027914987","https://openalex.org/W2028145273","https://openalex.org/W2030227107","https://openalex.org/W2038323858","https://openalex.org/W2048814746","https://openalex.org/W2049975267","https://openalex.org/W2050673234","https://openalex.org/W2052815184","https://openalex.org/W2056979595","https://openalex.org/W2059825294","https://openalex.org/W2060771701","https://openalex.org/W2062772242","https://openalex.org/W2064736763","https://openalex.org/W2068025371","https://openalex.org/W2072155774","https://openalex.org/W2074332749","https://openalex.org/W2080509217","https://openalex.org/W2083804606","https://openalex.org/W2090161303","https://openalex.org/W2097009171","https://openalex.org/W2101392651","https://openalex.org/W2106068511","https://openalex.org/W2107072279","https://openalex.org/W2109135966","https://openalex.org/W2120251320","https://openalex.org/W2121548261","https://openalex.org/W2122989592","https://openalex.org/W2123133133","https://openalex.org/W2123179704","https://openalex.org/W2125095860","https://openalex.org/W2126782296","https://openalex.org/W2133814584","https://openalex.org/W2139699368","https://openalex.org/W2139841931","https://openalex.org/W2148084942","https://openalex.org/W2149841830","https://openalex.org/W2151608912","https://openalex.org/W2152392108","https://openalex.org/W2164992445","https://openalex.org/W2168069209","https://openalex.org/W2208088871","https://openalex.org/W2246369875","https://openalex.org/W2247337287","https://openalex.org/W2274021575","https://openalex.org/W2279504582","https://openalex.org/W2507685332","https://openalex.org/W2519945751","https://openalex.org/W2534928993","https://openalex.org/W2602942583","https://openalex.org/W2618496359","https://openalex.org/W2733781083","https://openalex.org/W2735048916","https://openalex.org/W2737491236","https://openalex.org/W2738299155","https://openalex.org/W2748134142","https://openalex.org/W2754550828","https://openalex.org/W2759284426","https://openalex.org/W2770898311","https://openalex.org/W2783360048","https://openalex.org/W2790484837","https://openalex.org/W2791983219","https://openalex.org/W2792427381","https://openalex.org/W2794332309","https://openalex.org/W2802577167","https://openalex.org/W2808937626","https://openalex.org/W2884997579","https://openalex.org/W2889107720","https://openalex.org/W2895579369","https://openalex.org/W2896004893","https://openalex.org/W2899318310","https://openalex.org/W2907887410","https://openalex.org/W2926357849","https://openalex.org/W2956531911","https://openalex.org/W2962869219","https://openalex.org/W2965689148","https://openalex.org/W2969181851","https://openalex.org/W2981866563","https://openalex.org/W2985797574","https://openalex.org/W3102580236","https://openalex.org/W3168867694","https://openalex.org/W4231156366","https://openalex.org/W4250271951","https://openalex.org/W4313313441","https://openalex.org/W6602225524","https://openalex.org/W6634100608","https://openalex.org/W6634509795","https://openalex.org/W6636628779","https://openalex.org/W6637962810","https://openalex.org/W6638274646","https://openalex.org/W6639614803","https://openalex.org/W6674736289","https://openalex.org/W6682681516","https://openalex.org/W6735963245","https://openalex.org/W6740578593","https://openalex.org/W6741433357","https://openalex.org/W7036306845"],"related_works":["https://openalex.org/W2152623100","https://openalex.org/W2096417281","https://openalex.org/W25204318","https://openalex.org/W2077035242","https://openalex.org/W2138895528","https://openalex.org/W3042643149","https://openalex.org/W2056979595","https://openalex.org/W1999203047","https://openalex.org/W3201977823","https://openalex.org/W2362203107"],"abstract_inverted_index":{"Self-reconfigurable":[0],"robots":[1,63],"have":[2],"been":[3],"proposed":[4,21,136],"for":[5,38,56],"a":[6,36],"quite":[7],"long":[8],"period":[9],"and":[10,24,40,51,70,80,89,124],"in":[11],"large":[12],"numbers.":[13],"However,":[14],"there":[15],"are":[16,73,101,116,138],"very":[17],"few":[18],"systematic":[19],"methodologies":[20],"to":[22,109,118],"categorize":[23],"evaluate":[25],"such":[26],"kinds":[27],"of":[28,43,54,61,78,85,98,122,127,134],"robots.":[29,129],"In":[30],"this":[31],"paper,":[32],"we":[33],"put":[34],"forward":[35],"framework":[37,137],"taxonomy":[39],"evaluation":[41,114],"(TAEV)":[42],"self-reconfigurable":[44,128],"robots,":[45],"based":[46],"on":[47,132],"the":[48,52,62,76,87,120,125,135],"mechanism":[49,59],"reconfigurability":[50,60,100],"level":[53,121],"autonomy":[55,99,123],"reconfiguration.":[57],"The":[58,96,113],"is":[64,92],"divided":[65],"into":[66],"two":[67],"types:":[68],"inter-reconfigurability":[69,90],"intra-reconfigurability":[71],"which":[72],"quantified":[74],"by":[75],"number":[77],"configurations":[79],"scale":[81],"respectively.":[82],"A":[83],"combination":[84],"both":[86],"intra-":[88],"feature":[91],"named":[93],"as":[94],"nested-reconfiguration.":[95],"levels":[97,105],"ranging":[102],"through":[103],"different":[104],"from":[106],"manual":[107],"teleoperation":[108],"fully":[110],"autonomous":[111],"systems.":[112],"metrics":[115],"introduced":[117],"quantify":[119],"sufficiency":[126],"Detailed":[130],"discussions":[131],"applications":[133],"presented":[139],"with":[140],"real-robot":[141],"examples.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":5}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}