{"id":"https://openalex.org/W2980827657","doi":"https://doi.org/10.1109/aim.2019.8868918","title":"Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot","display_name":"Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980827657","doi":"https://doi.org/10.1109/aim.2019.8868918","mag":"2980827657"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868918","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/A5073931012","display_name":"Atsushi Kakogawa","orcid":"https://orcid.org/0000-0003-3543-1284"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Atsushi Kakogawa","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, JAPAN","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065851843","display_name":"Taihei Kawabata","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taihei Kawabata","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, JAPAN","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, JAPAN","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073931012"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.0996,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45161771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11","issue":null,"first_page":"235","last_page":"240"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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":0.996999979019165,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9902999997138977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.8119982481002808},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8054400682449341},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7556265592575073},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6609665155410767},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.599576473236084},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5830366611480713},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.5258510708808899},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.487765371799469},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4813697934150696},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.4756597876548767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4610518515110016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4024301767349243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3467784523963928},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33630892634391785},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24696460366249084},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.232747882604599},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.21921998262405396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2164771854877472},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18087303638458252},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12591373920440674}],"concepts":[{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.8119982481002808},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8054400682449341},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7556265592575073},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6609665155410767},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.599576473236084},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5830366611480713},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.5258510708808899},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.487765371799469},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4813697934150696},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.4756597876548767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4610518515110016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4024301767349243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3467784523963928},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33630892634391785},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24696460366249084},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.232747882604599},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.21921998262405396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2164771854877472},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18087303638458252},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12591373920440674},{"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2019.8868918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868918","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"},{"id":"pmh:oai:irdb.nii.ac.jp:01038:0006909188","is_oa":false,"landing_page_url":"https://ritsumei.repo.nii.ac.jp/records/2003660","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"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":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9200000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1519339220","https://openalex.org/W1964258484","https://openalex.org/W2004515172","https://openalex.org/W2073293287","https://openalex.org/W2081076891","https://openalex.org/W2099859514","https://openalex.org/W2101850483","https://openalex.org/W2106170519","https://openalex.org/W2108746967","https://openalex.org/W2117832310","https://openalex.org/W2118301857","https://openalex.org/W2123431998","https://openalex.org/W2133834164","https://openalex.org/W2133872400","https://openalex.org/W2140516362","https://openalex.org/W2148669176","https://openalex.org/W2157147786","https://openalex.org/W2169712669","https://openalex.org/W2204970869","https://openalex.org/W2294829212","https://openalex.org/W2334421930","https://openalex.org/W2514512881","https://openalex.org/W2562506730","https://openalex.org/W2785361559","https://openalex.org/W2798273904","https://openalex.org/W3193680531","https://openalex.org/W4240976285","https://openalex.org/W6676122756","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W2808213426","https://openalex.org/W2016759238","https://openalex.org/W2807711811","https://openalex.org/W2808279233","https://openalex.org/W2140790411","https://openalex.org/W2008617738","https://openalex.org/W2790761961","https://openalex.org/W2322932004","https://openalex.org/W1534202391","https://openalex.org/W2315940723"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"plate":[3,66,80],"springed":[4],"parallel":[5],"elastic":[6],"actuators":[7],"(PEAs)":[8],"for":[9],"snake":[10,27,53],"robots.":[11],"In":[12,68],"our":[13],"previous":[14],"study,":[15],"compression":[16],"springs":[17],"are":[18],"mounted":[19],"on":[20],"both":[21],"lateral":[22],"sides":[23],"of":[24,51,78,85],"the":[25,31,40,44,49,52,59,69,74,79,83,86,93,97,106,112],"PEA-based":[26],"robot":[28,87],"to":[29,92],"reduce":[30],"energy":[32,107],"consumption.":[33],"However,":[34],"it":[35],"grows":[36],"in":[37,101,116],"size":[38],"and":[39,76,89],"spring":[41,61,81],"might":[42],"touch":[43],"outdoor":[45],"environments,":[46],"which":[47],"disturbs":[48],"movement":[50],"robot.":[54],"To":[55],"solve":[56],"this":[57],"problem,":[58],"tension":[60],"was":[62,109],"replaced":[63],"by":[64,111],"a":[65],"spring.":[67],"present":[70],"paper,":[71],"after":[72],"analyzing":[73],"shape":[75],"force":[77],"under":[82],"constraint":[84],"joint":[88],"applying":[90],"them":[91],"dynamics,":[94],"we":[95],"found":[96],"optimal":[98],"stiffness":[99],"combination":[100],"each":[102],"moving":[103],"speed.":[104],"Finally,":[105],"consumption":[108],"evaluated":[110],"measured":[113],"motor":[114],"current":[115],"experiments.":[117]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}