{"id":"https://openalex.org/W4385232393","doi":"https://doi.org/10.1109/arso56563.2023.10187577","title":"Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure","display_name":"Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure","publication_year":2023,"publication_date":"2023-06-05","ids":{"openalex":"https://openalex.org/W4385232393","doi":"https://doi.org/10.1109/arso56563.2023.10187577"},"language":"en","primary_location":{"id":"doi:10.1109/arso56563.2023.10187577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso56563.2023.10187577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04416912v1/file/arso_papier__version3_.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015086379","display_name":"Xiao Xie","orcid":"https://orcid.org/0000-0002-2598-0047"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xiao Xie","raw_affiliation_strings":["IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I4210127572"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053046360","display_name":"Johann Herault","orcid":"https://orcid.org/0000-0002-1536-7492"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Johann Herault","raw_affiliation_strings":["IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I4210127572"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051124210","display_name":"Vincent Lebastard","orcid":"https://orcid.org/0000-0001-7306-2286"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Lebastard","raw_affiliation_strings":["IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I4210127572"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070115867","display_name":"Fr\u00e9d\u00e9ric Boyer","orcid":"https://orcid.org/0000-0003-0021-9590"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fr\u00e9d\u00e9ric Boyer","raw_affiliation_strings":["IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMT Atlantique, LS2N, UMR CNRS 6004,Nantes,France,F-44307","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210117005","https://openalex.org/I4210127572"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7794,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64680851,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"65","last_page":"70"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.7684813737869263},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5597088932991028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49557650089263916},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.48434698581695557},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.46479174494743347},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4477812349796295},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4453153908252716},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.420663982629776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3348273038864136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1994234025478363},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17309457063674927},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10862594842910767},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10379934310913086},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0893561840057373},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.08199229836463928},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0788201093673706}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7684813737869263},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5597088932991028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49557650089263916},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.48434698581695557},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.46479174494743347},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4477812349796295},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4453153908252716},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.420663982629776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3348273038864136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1994234025478363},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17309457063674927},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10862594842910767},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10379934310913086},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0893561840057373},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.08199229836463928},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0788201093673706},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/arso56563.2023.10187577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso56563.2023.10187577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04416912v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04416912","pdf_url":"https://hal.science/hal-04416912v1/file/arso_papier__version3_.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ARSO 2023: 19th IEEE International Conference on Advanced Robotics and Its Social Impacts, Jun 2023, Berlin, Germany. pp.65-70, ⟨10.1109/ARSO56563.2023.10187577⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04416912v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04416912","pdf_url":"https://hal.science/hal-04416912v1/file/arso_papier__version3_.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ARSO 2023: 19th IEEE International Conference on Advanced Robotics and Its Social Impacts, Jun 2023, Berlin, Germany. pp.65-70, ⟨10.1109/ARSO56563.2023.10187577⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6448258540","display_name":"Stabilization process in marine surface robotics inspired by swimming snakes","funder_award_id":"ANR-19-CE33-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385232393.pdf","grobid_xml":"https://content.openalex.org/works/W4385232393.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W122965473","https://openalex.org/W618254468","https://openalex.org/W1564897360","https://openalex.org/W1964258484","https://openalex.org/W1966552874","https://openalex.org/W1970939721","https://openalex.org/W2017533233","https://openalex.org/W2117280259","https://openalex.org/W2213633935","https://openalex.org/W2266380092","https://openalex.org/W2492811885","https://openalex.org/W2579998546","https://openalex.org/W2765101259","https://openalex.org/W2787690100","https://openalex.org/W3033752737","https://openalex.org/W3113917595","https://openalex.org/W4200453785"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W972276598","https://openalex.org/W4246352526","https://openalex.org/W2218699221","https://openalex.org/W4285133152"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,105],"report":[4],"a":[5,11,116],"recursive":[6],"inverse":[7],"dynamical":[8],"model":[9,76],"for":[10,115],"new":[12,60],"snake-like":[13],"robot":[14,18,39,93],"called":[15],"NATRIX.":[16],"This":[17,59],"has":[19],"been":[20],"designed":[21],"to":[22,45,65,84],"maintain":[23],"its":[24],"gaze":[25],"on":[26,94],"the":[27,38,47,57,74,78,89,92,95,100,103,111],"water":[28,96],"surface":[29],"and":[30,54,77],"monitor":[31],"sensible":[32],"ecosystems.":[33],"Inspired":[34],"by":[35],"real":[36,87],"snakes,":[37],"features":[40],"rotating":[41],"outer":[42],"shells":[43],"allowing":[44],"change":[46],"level":[48],"of":[49,51,62,91,102,113],"immersion":[50],"each":[52],"module":[53],"re-stabilize":[55],"quickly":[56],"robot.":[58],"degree":[61],"freedom":[63],"leads":[64],"an":[66],"original":[67],"tree-like":[68],"geometric":[69],"structure.":[70],"We":[71],"present":[72,106],"here":[73],"theoretical":[75],"numerical":[79],"solutions":[80],"that":[81],"allow":[82],"us":[83],"simulate":[85],"in":[86],"time":[88],"dynamics":[90],"surface.":[97],"After":[98],"reporting":[99],"benchmark":[101],"simulator,":[104],"surprising":[107],"preliminary":[108],"results":[109],"suggesting":[110],"possibility":[112],"capsizing":[114],"given":[117],"frequency":[118],"range.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}