{"id":"https://openalex.org/W4401752392","doi":"https://doi.org/10.1109/aim55361.2024.10636952","title":"Dynamic Modeling and Design Optimization of an Artificial Muscle-Driven Limbless Robot for Agile Locomotion","display_name":"Dynamic Modeling and Design Optimization of an Artificial Muscle-Driven Limbless Robot for Agile Locomotion","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401752392","doi":"https://doi.org/10.1109/aim55361.2024.10636952"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10636952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim55361.2024.10636952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 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/A5106662425","display_name":"Ayla Valles","orcid":null},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ayla Valles","raw_affiliation_strings":["New Mexico State University,Department of Mechanical and Aerospace Engineering,Las Cruces,NM,USA,88003"],"affiliations":[{"raw_affiliation_string":"New Mexico State University,Department of Mechanical and Aerospace Engineering,Las Cruces,NM,USA,88003","institution_ids":["https://openalex.org/I10052268"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040900522","display_name":"Mahdi Haghshenas\u2010Jaryani","orcid":"https://orcid.org/0000-0003-4592-578X"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahdi Haghshenas-Jaryani","raw_affiliation_strings":["New Mexico State University,Department of Mechanical and Aerospace Engineering,Las Cruces,NM,USA,88003"],"affiliations":[{"raw_affiliation_string":"New Mexico State University,Department of Mechanical and Aerospace Engineering,Las Cruces,NM,USA,88003","institution_ids":["https://openalex.org/I10052268"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5106662425"],"corresponding_institution_ids":["https://openalex.org/I10052268"],"apc_list":null,"apc_paid":null,"fwci":0.1955,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4741291,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1126","last_page":"1131"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9739999771118164,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9739999771118164,"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/agile-software-development","display_name":"Agile software development","score":0.7281479835510254},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6308959126472473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6203386783599854},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3636590242385864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2979929745197296},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2885914444923401},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.17890796065330505}],"concepts":[{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7281479835510254},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6308959126472473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6203386783599854},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3636590242385864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2979929745197296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2885914444923401},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.17890796065330505}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10636952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim55361.2024.10636952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1908103406","https://openalex.org/W1939016165","https://openalex.org/W1988485826","https://openalex.org/W2090370942","https://openalex.org/W2111689525","https://openalex.org/W2113493173","https://openalex.org/W2123518236","https://openalex.org/W2129384078","https://openalex.org/W2189380937","https://openalex.org/W2947665220","https://openalex.org/W4206786868","https://openalex.org/W4285732753","https://openalex.org/W4376605657","https://openalex.org/W4376605692","https://openalex.org/W4381661567"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2656997359","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W1973385172"],"abstract_inverted_index":{"Future":[0],"planetary":[1],"explorations":[2],"require":[3],"versatile":[4],"robots":[5],"to":[6,15,81,121],"adaptively":[7],"traverse":[8],"extreme":[9],"access":[10],"environments":[11],"with":[12,53,79],"optimal":[13,124,134],"energy-consumption":[14],"address":[16],"the":[17,27,65,72,82,101,123],"current":[18],"rovers\u2019":[19],"limitations.":[20],"This":[21],"paper":[22],"discusses":[23],"a":[24,45,108,112,116],"study":[25],"of":[26,47,59,100],"dynamics":[28],"and":[29,74,128],"velocity-based":[30,117],"optimization":[31,118],"for":[32,91,111],"planar":[33],"snake-robot":[34],"muscle-driven":[35],"locomotion.":[36],"The":[37,68,85,98],"system":[38,94],"has":[39],"two":[40],"adjacent":[41],"links":[42],"connected":[43],"by":[44],"pair":[46],"pneumatic":[48],"artificial":[49],"muscle":[50,83],"(PAMs)":[51],"series":[52],"extension":[54],"springs.":[55],"An":[56],"alternate":[57],"actuation":[58],"PAMs":[60],"causes":[61],"rotational":[62],"motion":[63],"about":[64],"connecting":[66],"joint.":[67],"robot\u2019s":[69,86],"kinematics":[70],"in":[71],"joint":[73],"Cartesian":[75],"space":[76],"were":[77,89],"derived":[78],"respect":[80],"motion.":[84],"dynamic":[87,102],"model":[88,103,130],"obtained":[90],"an":[92],"N-Link":[93],"using":[95],"Lagrangian":[96],"mechanics.":[97],"performance":[99],"was":[104,119],"then":[105],"demonstrated":[106],"through":[107],"MATLAB":[109],"simulation":[110],"two-link":[113],"robot.":[114],"Additionally,":[115],"done":[120],"analyze":[122],"linkage\u2019s":[125],"geometric":[126],"parameters":[127],"dynamical":[129],"properties":[131],"that":[132],"yields":[133],"forward":[135],"velocity.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}