{"id":"https://openalex.org/W4393185221","doi":"https://doi.org/10.1109/access.2024.3382205","title":"Control of a Snake Robot With Proximity Sensors to Adapt for Two Variable Planes","display_name":"Control of a Snake Robot With Proximity Sensors to Adapt for Two Variable Planes","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4393185221","doi":"https://doi.org/10.1109/access.2024.3382205"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3382205","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3382205","pdf_url":null,"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":null,"license_id":null,"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":"http://dx.doi.org/10.1109/access.2024.3382205","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103130930","display_name":"Shunta Suyama","orcid":"https://orcid.org/0009-0000-1395-6149"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunta Suyama","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0000-1395-6149","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026171473","display_name":"Mizuki Nakajima","orcid":"https://orcid.org/0000-0002-8643-7187"},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mizuki Nakajima","raw_affiliation_strings":["Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8643-7187","affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, Tokyo, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061020240","display_name":"Hikaru Arita","orcid":"https://orcid.org/0000-0003-4953-2553"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Arita","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4953-2553","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005230351","display_name":"Motoyasu Tanaka","orcid":"https://orcid.org/0000-0002-3717-8852"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motoyasu Tanaka","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3717-8852","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"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":0.6901,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62590716,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"46864","last_page":"46880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991999864578247,"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":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9962999820709229,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9908000230789185,"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/computer-science","display_name":"Computer science","score":0.5866028666496277},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5656211972236633},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5616823434829712},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39062565565109253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3622843623161316},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1500488817691803}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5866028666496277},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5656211972236633},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5616823434829712},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39062565565109253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3622843623161316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1500488817691803},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3382205","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3382205","pdf_url":null,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6fc1caee8b2449ae893a70de5e76cf40","is_oa":true,"landing_page_url":"https://doaj.org/article/6fc1caee8b2449ae893a70de5e76cf40","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 12, Pp 46864-46880 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3382205","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3382205","pdf_url":null,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G3413199606","display_name":null,"funder_award_id":"JP21H01285","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G414900346","display_name":"Hyper-redundant control of snake robots utilizing adaptation and modification to variable environments","funder_award_id":"23K20923","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1498102064","https://openalex.org/W1590313028","https://openalex.org/W1964750371","https://openalex.org/W2015364224","https://openalex.org/W2016241789","https://openalex.org/W2022302728","https://openalex.org/W2068911115","https://openalex.org/W2074255906","https://openalex.org/W2076369322","https://openalex.org/W2089085306","https://openalex.org/W2096680899","https://openalex.org/W2111543322","https://openalex.org/W2115940504","https://openalex.org/W2137383316","https://openalex.org/W2144439690","https://openalex.org/W2161322375","https://openalex.org/W2163994137","https://openalex.org/W2168463760","https://openalex.org/W2199318894","https://openalex.org/W2215331304","https://openalex.org/W2510720489","https://openalex.org/W2540359924","https://openalex.org/W2569445514","https://openalex.org/W2579265282","https://openalex.org/W2782695305","https://openalex.org/W2797334622","https://openalex.org/W2803699924","https://openalex.org/W2976032235","https://openalex.org/W3008098823","https://openalex.org/W3096175590","https://openalex.org/W3103938926","https://openalex.org/W4286369537","https://openalex.org/W4319342639"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,7,23,115],"control":[4,51,57,88],"method":[5],"for":[6],"snake":[8,91,116,137],"robot":[9,29,65,92,138],"to":[10,27,30,37,47,58,68,93,96,124,162],"move":[11],"between":[12],"two":[13],"planes":[14,127],"amidst":[15],"changing":[16,99],"environmental":[17,48],"conditions.":[18],"The":[19,79,104,118],"proposed":[20,108],"approach":[21],"uses":[22],"proximity":[24],"sensor":[25,82],"affixed":[26],"the":[28,38,41,50,64,71,77,90,97,107,121,130,136,156,159,167],"estimate":[31],"its":[32],"position":[33],"and":[34,86,101],"orientation":[35],"relative":[36],"plane.":[39,78,134],"When":[40],"robot\u2019s":[42,122,160],"wheels":[43,73,152,168],"become":[44],"ungrounded":[45,72,151],"due":[46],"fluctuations,":[49],"mode":[52],"seamlessly":[53],"transitions":[54],"from":[55],"propulsion":[56,84,164],"recovery":[59,62,87,144],"control.":[60],"During":[61],"control,":[63,85,145],"is":[66],"controlled":[67],"ensure":[69],"that":[70],"regain":[74],"contact":[75,142],"with":[76],"integration":[80],"of":[81,106,133,150],"information,":[83],"enables":[89],"effectively":[94],"adapt":[95],"dynamically":[98],"environment":[100],"maintain":[102],"locomotion.":[103],"effectiveness":[105],"methodology":[109],"was":[110],"confirmed":[111],"through":[112,143],"experiments":[113],"employing":[114],"robot.":[117],"results":[119],"validate":[120],"capability":[123],"traverse":[125],"variable":[126],"by":[128,165],"utilizing":[129],"estimated":[131],"information":[132],"Moreover,":[135],"successfully":[139],"regained":[140],"ground":[141],"even":[146],"when":[147],"encountering":[148],"instances":[149],"during":[153],"propulsion.":[154],"Thus,":[155],"findings":[157],"substantiate":[158],"ability":[161],"sustain":[163],"maintaining":[166],"grounded.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
