{"id":"https://openalex.org/W2980808822","doi":"https://doi.org/10.1109/aim.2019.8868845","title":"Nimble Limbs - Intelligent attachable legs to create walking robots from variously shaped objects","display_name":"Nimble Limbs - Intelligent attachable legs to create walking robots from variously shaped objects","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980808822","doi":"https://doi.org/10.1109/aim.2019.8868845","mag":"2980808822"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5053896000","display_name":"Timoth\u00e9e Buettner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timothee Buettner","raw_affiliation_strings":["Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009997706","display_name":"Georg Heppner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Heppner","raw_affiliation_strings":["Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004964717","display_name":"Ruediger Dillmann","orcid":"https://orcid.org/0000-0002-2049-8219"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ruediger Dillmann","raw_affiliation_strings":["Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department for Intelligent Systems and Production Engineering (ISPE), FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4448,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62578643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"376","last_page":"381"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"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":0.9732999801635742,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8199459314346313},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6987367272377014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6511417031288147},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.5963224768638611},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5630820989608765},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5405588746070862},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5212093591690063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4660049378871918},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4544421434402466},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.437913179397583},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33129066228866577},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.27734339237213135},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18426138162612915}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8199459314346313},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6987367272377014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6511417031288147},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.5963224768638611},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5630820989608765},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5405588746070862},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5212093591690063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4660049378871918},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4544421434402466},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.437913179397583},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33129066228866577},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.27734339237213135},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18426138162612915},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W211888945","https://openalex.org/W1964750371","https://openalex.org/W1970461118","https://openalex.org/W1977331952","https://openalex.org/W1978248694","https://openalex.org/W2017674602","https://openalex.org/W2020920536","https://openalex.org/W2028208724","https://openalex.org/W2039279693","https://openalex.org/W2052391272","https://openalex.org/W2063805130","https://openalex.org/W2070805426","https://openalex.org/W2088373173","https://openalex.org/W2098998403","https://openalex.org/W2109581673","https://openalex.org/W2138671676","https://openalex.org/W2139053308","https://openalex.org/W2139841931","https://openalex.org/W2142861512","https://openalex.org/W2159220301","https://openalex.org/W2168941872","https://openalex.org/W2193842127","https://openalex.org/W2415959992","https://openalex.org/W2542629136","https://openalex.org/W2549216668","https://openalex.org/W2562421930","https://openalex.org/W2775377060","https://openalex.org/W2897343359","https://openalex.org/W2913765001","https://openalex.org/W4250058668","https://openalex.org/W6608631664","https://openalex.org/W6663448343","https://openalex.org/W6728780582","https://openalex.org/W6758783750"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Biology":[0],"has":[1],"always":[2],"been":[3],"a":[4,93,103,133,135,170],"major":[5,158],"inspiration":[6],"for":[7,28],"our":[8],"walking":[9],"robots.":[10],"We":[11],"try":[12],"to":[13,21,32,42,82,105,125,151,167],"capture":[14],"what":[15],"basic":[16],"ideas":[17],"can":[18,122],"be":[19,25,123,131],"applied":[20,124],"improve":[22],"robotic":[23],"performance,":[24],"it":[26,132],"biomechanics":[27],"organic":[29],"structural":[30],"design":[31,56],"make":[33],"sturdier":[34],"robots":[35,108],"or":[36,138],"the":[37,53,63,80,89,144,157],"complexity":[38],"of":[39,46,49,57,62,96,146],"neural":[40],"networks":[41],"achieve":[43],"new":[44],"levels":[45],"intelligence.":[47],"This,":[48],"course,":[50],"comes":[51],"with":[52],"price.":[54],"The":[55,140],"legged":[58],"robots,":[59],"being":[60],"one":[61],"most":[64],"influenced":[65],"parts":[66],"is":[67],"widely":[68],"dominated":[69],"by":[70,109],"monolithic":[71],"systems.":[72],"In":[73],"some":[74],"rare":[75],"cases":[76],"will":[77,101,142],"they":[78],"exhibit":[79],"capability":[81],"exchange":[83],"modular":[84],"body":[85,90],"parts.":[86],"And":[87],"still,":[88],"itself":[91],"remains":[92],"crucial":[94],"part":[95],"its":[97,117],"topology.":[98],"This":[99],"paper":[100,141],"present":[102,143],"concept":[104],"rethink":[106],"embodied":[107],"transferring":[110],"all":[111],"hardware":[112],"and":[113,154],"software":[114],"components":[115],"into":[116],"legs.":[118],"These":[119],"nimble":[120],"limbs":[121],"any":[126],"object":[127],"that":[128],"needs":[129],"transporting,":[130],"parcel,":[134],"shopping":[136],"basket":[137],"furniture.":[139],"advantages":[145],"these":[147],"intelligent":[148],"legs":[149],"compared":[150],"other":[152],"systems":[153],"point":[155],"out":[156],"issues":[159],"as":[160,162],"well":[161],"possible":[163],"solutions":[164],"on":[165],"how":[166],"realize":[168],"such":[169],"disembodied":[171],"robot.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
