{"id":"https://openalex.org/W2890315473","doi":"https://doi.org/10.1109/aim.2018.8452352","title":"Snake-Like Robot with Controllable Side-Thrust Links: Dynamical Modeling and a Variable Undulation Motion","display_name":"Snake-Like Robot with Controllable Side-Thrust Links: Dynamical Modeling and a Variable Undulation Motion","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2890315473","doi":"https://doi.org/10.1109/aim.2018.8452352","mag":"2890315473"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2018.8452352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2018.8452352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5102784072","display_name":"Yuki Takagi","orcid":"https://orcid.org/0000-0003-0057-4760"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuki Takagi","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051623818","display_name":"Yuichiro SUEOKA","orcid":"https://orcid.org/0000-0002-5716-6365"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Sueoka","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029318565","display_name":"Masato Ishikawa","orcid":"https://orcid.org/0000-0003-3652-196X"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masato Ishikawa","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086080989","display_name":"Koichi Osuka","orcid":"https://orcid.org/0000-0002-1882-1697"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Osuka","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102784072"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.3679,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60595497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"63","last_page":"68"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9914000034332275,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9855999946594238,"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/thrust","display_name":"Thrust","score":0.7076423168182373},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6453238129615784},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.638323962688446},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5160622000694275},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4943861961364746},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4801623225212097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.464468389749527},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4466455578804016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41988441348075867},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.41162651777267456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39796972274780273},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3886914551258087},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.35061612725257874},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23003092408180237},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18208467960357666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17088881134986877},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.16295811533927917},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15194976329803467},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07041424512863159}],"concepts":[{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.7076423168182373},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6453238129615784},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.638323962688446},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5160622000694275},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4943861961364746},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4801623225212097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.464468389749527},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4466455578804016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41988441348075867},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.41162651777267456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39796972274780273},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3886914551258087},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.35061612725257874},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23003092408180237},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18208467960357666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17088881134986877},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.16295811533927917},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15194976329803467},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07041424512863159},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2018.8452352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2018.8452352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338075","display_name":"Core Research for Evolutional Science and Technology","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2068628598","https://openalex.org/W2089085306","https://openalex.org/W2100972151","https://openalex.org/W2613229785","https://openalex.org/W2785713823","https://openalex.org/W6738423198"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2075639008","https://openalex.org/W2109573574"],"abstract_inverted_index":{"In":[0],"this":[1,31,53,66,87],"paper,":[2],"we":[3,33,89],"attempt":[4],"to":[5,58,60,103],"design":[6,93],"variable":[7,111],"amplitude":[8,73,82,98],"undulation":[9,112],"motion":[10,107],"in":[11,45,95],"which":[12,42,96],"the":[13,21,24,97,105],"input":[14],"speed":[15,62],"and":[16,26,76,114],"force":[17],"are":[18],"bounded,":[19],"on":[20],"basis":[22],"of":[23,52,74,83],"kinematics":[25],"inverse":[27],"dynamics.":[28],"To":[29],"realize":[30],"motion,":[32,113],"used":[34],"a":[35,71,91,118],"snake-like":[36],"robot":[37,54,67],"with":[38,101],"controllable":[39],"side-thrust":[40],"links,":[41],"was":[43],"proposed":[44],"our":[46],"previous":[47],"research.":[48],"The":[49],"driving":[50],"principle":[51],"can":[55],"be":[56],"considered":[57],"correspond":[59],"avariable":[61],"transmission":[63],"system,":[64],"i.e.,":[65],"moves":[68,78],"slowly":[69],"for":[70,80],"large":[72],"undulation,":[75],"it":[77],"fast":[79],"small":[81],"undulation.":[84],"By":[85],"using":[86],"characteristic,":[88],"propose":[90],"control":[92],"method":[94],"is":[99,108,115],"varied":[100],"respect":[102],"time;":[104],"corresponding":[106],"termed":[109],"as":[110],"illustrated":[116],"by":[117],"numerical":[119],"simulation.":[120]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}