{"id":"https://openalex.org/W4399801666","doi":"https://doi.org/10.1109/arso60199.2024.10557914","title":"Anisotropic Friction Skin for Holonomic Snake Robot Mobility*","display_name":"Anisotropic Friction Skin for Holonomic Snake Robot Mobility*","publication_year":2024,"publication_date":"2024-05-20","ids":{"openalex":"https://openalex.org/W4399801666","doi":"https://doi.org/10.1109/arso60199.2024.10557914"},"language":"en","primary_location":{"id":"doi:10.1109/arso60199.2024.10557914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso60199.2024.10557914","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 Robotics and Its Social Impacts (ARSO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5012559197","display_name":"Hareesh Chitikena","orcid":"https://orcid.org/0000-0002-5751-8914"},"institutions":[{"id":"https://openalex.org/I200650556","display_name":"University of Agder","ror":"https://ror.org/03x297z98","country_code":"NO","type":"education","lineage":["https://openalex.org/I200650556"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Hareesh Chitikena","raw_affiliation_strings":["University of Agder,Faculty of Engineering and Science,Department of Engineering Sciences,Grimstad,Norway,4879"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Agder,Faculty of Engineering and Science,Department of Engineering Sciences,Grimstad,Norway,4879","institution_ids":["https://openalex.org/I200650556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075276658","display_name":"Alireza Mohammadi","orcid":"https://orcid.org/0000-0002-5561-1322"},"institutions":[{"id":"https://openalex.org/I4210130704","display_name":"University of Michigan\u2013Dearborn","ror":"https://ror.org/035wtm547","country_code":"US","type":"education","lineage":["https://openalex.org/I4210130704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Mohammadi","raw_affiliation_strings":["University of Michigan-Dearborn,Dept. Electrical and Computer Eng.,Dearborn,MI,USA,48128"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan-Dearborn,Dept. Electrical and Computer Eng.,Dearborn,MI,USA,48128","institution_ids":["https://openalex.org/I4210130704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087578160","display_name":"Filippo Sanfilippo","orcid":"https://orcid.org/0000-0002-1437-8368"},"institutions":[{"id":"https://openalex.org/I200650556","display_name":"University of Agder","ror":"https://ror.org/03x297z98","country_code":"NO","type":"education","lineage":["https://openalex.org/I200650556"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Filippo Sanfilippo","raw_affiliation_strings":["University of Agder,Faculty of Engineering and Science,Department of Engineering Sciences,Grimstad,Norway,4879"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Agder,Faculty of Engineering and Science,Department of Engineering Sciences,Grimstad,Norway,4879","institution_ids":["https://openalex.org/I200650556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081081302","display_name":"Mohammad Poursina","orcid":"https://orcid.org/0000-0002-1886-2181"},"institutions":[{"id":"https://openalex.org/I200650556","display_name":"University of Agder","ror":"https://ror.org/03x297z98","country_code":"NO","type":"education","lineage":["https://openalex.org/I200650556"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Mohammad Poursina","raw_affiliation_strings":["University of Agder,Faculty of Engineering and Science,Department of Engineering Sciences,Grimstad,Norway,4879"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Agder,Faculty of Engineering and Science,Department of Engineering Sciences,Grimstad,Norway,4879","institution_ids":["https://openalex.org/I200650556"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1031,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84880083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"222","last_page":"227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.982699990272522,"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":0.982699990272522,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9764999747276306,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9682000279426575,"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/holonomic","display_name":"Holonomic","score":0.8258085250854492},{"id":"https://openalex.org/keywords/anisotropy","display_name":"Anisotropy","score":0.6697254180908203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5392675399780273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.523358941078186},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47081050276756287},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3545456826686859},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3536093533039093},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3331429660320282},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2534096837043762},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.06528478860855103}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8258085250854492},{"id":"https://openalex.org/C85725439","wikidata":"https://www.wikidata.org/wiki/Q466686","display_name":"Anisotropy","level":2,"score":0.6697254180908203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5392675399780273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.523358941078186},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47081050276756287},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3545456826686859},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3536093533039093},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3331429660320282},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2534096837043762},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.06528478860855103}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso60199.2024.10557914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso60199.2024.10557914","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 Robotics and Its Social Impacts (ARSO)","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":19,"referenced_works":["https://openalex.org/W1969061517","https://openalex.org/W2005443387","https://openalex.org/W2025304084","https://openalex.org/W2101897515","https://openalex.org/W2107453264","https://openalex.org/W2110049110","https://openalex.org/W2113673518","https://openalex.org/W2125096161","https://openalex.org/W2306706999","https://openalex.org/W2602945460","https://openalex.org/W2891773274","https://openalex.org/W2912365385","https://openalex.org/W3127197408","https://openalex.org/W3132622454","https://openalex.org/W4200232312","https://openalex.org/W4226173464","https://openalex.org/W4318614018","https://openalex.org/W4386755484","https://openalex.org/W6856288967"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2156868854","https://openalex.org/W2131454054","https://openalex.org/W4244593870","https://openalex.org/W2122871747","https://openalex.org/W2109445039","https://openalex.org/W3114279067","https://openalex.org/W2801643600","https://openalex.org/W4385059443","https://openalex.org/W4383611656"],"abstract_inverted_index":{"Achieving":[0],"effective":[1],"locomotion":[2,57,134],"for":[3,10,143],"holonomic":[4,59],"snake":[5,60,101],"robots":[6,61],"in":[7,38,62],"diverse":[8],"terrains":[9],"Search":[11],"and":[12,31,49,73,133],"Rescue":[13],"(SAR)":[14],"poses":[15],"a":[16,32,76,100,118],"significant":[17],"challenge.":[18],"While":[19],"biological":[20],"snakes":[21],"exhibit":[22],"complex":[23],"mobility":[24],"with":[25,104],"the":[26,56,90,93,141,148],"aid":[27],"of":[28,58,92,150],"anisotropic":[29,51],"skin":[30,53,107,121,131],"flexible":[33],"body,":[34],"replicating":[35],"such":[36],"capabilities":[37],"robotic":[39],"systems":[40],"demands":[41,149],"specialised":[42],"design":[43],"considerations.":[44],"This":[45,125],"paper":[46],"addresses":[47],"designing":[48],"analysing":[50],"frictional":[52,69],"to":[54,88,146],"enhance":[55],"flat,":[63],"variably":[64],"friction":[65],"environments.":[66],"Two":[67],"distinct":[68],"skins":[70],"are":[71],"developed":[72],"analysed":[74],"through":[75],"peristaltic":[77],"dynamic":[78],"model.":[79],"Moreover,":[80],"comprehensive":[81],"testing":[82],"is":[83],"conducted":[84,136],"on":[85,108,137],"various":[86],"substrates":[87],"assess":[89],"effectiveness":[91],"designed":[94],"snakeskins.":[95],"Experimental":[96],"results":[97],"indicate":[98],"that":[99],"robot":[102],"equipped":[103],"an":[105,109],"interlocking-based":[106],"Expanded":[110],"Polystyrene":[111],"substrate":[112],"achieves":[113],"small":[114],"forward":[115],"locomotion,":[116],"while":[117],"Molecular":[119],"Interaction-based":[120],"enables":[122],"sideways":[123],"motion.":[124],"study":[126],"provides":[127],"insights":[128],"into":[129],"preliminary":[130],"designs":[132],"tests":[135],"flat":[138],"surfaces,":[139],"emphasising":[140],"need":[142],"further":[144],"refinement":[145],"meet":[147],"SAR":[151],"applications.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}