{"id":"https://openalex.org/W2132575267","doi":"https://doi.org/10.1109/coase.2013.6653891","title":"Reconfiguring a modular robot into a humanoid formation: A multi-body dynamic perspective on motion scheduling for modules and their assemblies","display_name":"Reconfiguring a modular robot into a humanoid formation: A multi-body dynamic perspective on motion scheduling for modules and their assemblies","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W2132575267","doi":"https://doi.org/10.1109/coase.2013.6653891","mag":"2132575267"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2013.6653891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6653891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5084426136","display_name":"Paul M. Moubarak","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Paul M. Moubarak","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering at the George, Washington University, Washington, DC","Dept. of Mech. & Aerosp. Eng., George Washington Univ., Washington, DC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering at the George, Washington University, Washington, DC","institution_ids":["https://openalex.org/I193531525"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., George Washington Univ., Washington, DC, USA","institution_ids":["https://openalex.org/I193531525"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029603711","display_name":"Eric J. Alvarez","orcid":null},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric J. Alvarez","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering at the George, Washington University, Washington, DC","Dept. of Mech. & Aerosp. Eng., George Washington Univ., Washington, DC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering at the George, Washington University, Washington, DC","institution_ids":["https://openalex.org/I193531525"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., George Washington Univ., Washington, DC, USA","institution_ids":["https://openalex.org/I193531525"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085458507","display_name":"Pinhas Ben\u2010Tzvi","orcid":"https://orcid.org/0000-0002-9452-482X"},"institutions":[{"id":"https://openalex.org/I193531525","display_name":"George Washington University","ror":"https://ror.org/00y4zzh67","country_code":"US","type":"education","lineage":["https://openalex.org/I193531525"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pinhas Ben-Tzvi","raw_affiliation_strings":["Robotics and Mechatronics Lab at the George Washington University, Washington, DC","Robot. & Mechatron. Lab., George Washington Univ., Washington, DC, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Lab at the George Washington University, Washington, DC","institution_ids":["https://openalex.org/I193531525"]},{"raw_affiliation_string":"Robot. & Mechatron. Lab., George Washington Univ., Washington, DC, USA","institution_ids":["https://openalex.org/I193531525"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5084426136"],"corresponding_institution_ids":["https://openalex.org/I193531525"],"apc_list":null,"apc_paid":null,"fwci":0.8108,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77247881,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"687","last_page":"692"},"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":0.9922999739646912,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9884999990463257,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6798258423805237},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6703516244888306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6667843461036682},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6473395824432373},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.534015953540802},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.47772571444511414},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.47316083312034607},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4688972532749176},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.4408166706562042},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4317896366119385},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4298376441001892},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40519773960113525},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24924179911613464},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2329815924167633}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6798258423805237},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6703516244888306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6667843461036682},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6473395824432373},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.534015953540802},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.47772571444511414},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.47316083312034607},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4688972532749176},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.4408166706562042},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4317896366119385},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4298376441001892},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40519773960113525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24924179911613464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2329815924167633},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2013.6653891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6653891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.75,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1966218646","https://openalex.org/W1981235204","https://openalex.org/W1988251166","https://openalex.org/W1989588176","https://openalex.org/W1990357615","https://openalex.org/W2009963281","https://openalex.org/W2013207548","https://openalex.org/W2023664115","https://openalex.org/W2036374477","https://openalex.org/W2062653474","https://openalex.org/W2084302108","https://openalex.org/W2097235959","https://openalex.org/W2101672348","https://openalex.org/W2104938502","https://openalex.org/W2109490168","https://openalex.org/W2109838957","https://openalex.org/W2110466158","https://openalex.org/W2111020647","https://openalex.org/W2145802620","https://openalex.org/W2168067086","https://openalex.org/W4241569032","https://openalex.org/W6656262657","https://openalex.org/W6997072012"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W1532965292","https://openalex.org/W1963014672"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,65,71],"study":[4],"the":[5,30,34,49,56,94,97,105],"scheduling":[6],"architecture":[7],"that":[8,47],"enables":[9],"an":[10],"assembly":[11],"of":[12,33,40,58,79,96,108],"mobile":[13],"modules":[14],"to":[15],"reconfigure":[16],"into":[17,104],"a":[18,22,44,67,75],"humanoid":[19],"formation":[20,35,78],"with":[21],"manipulator":[23],"arm.":[24],"The":[25],"investigated":[26],"problem":[27],"arises":[28],"from":[29],"articulated":[31],"nature":[32],"which":[36,70],"involves":[37],"multiple":[38],"degrees":[39],"freedom,":[41],"thus":[42],"requiring":[43],"control":[45],"approach":[46],"synchronizes":[48],"actuators'":[50],"motion":[51,59],"during":[52],"shape":[53],"metamorphosis.":[54],"Using":[55],"principles":[57],"kinematics":[60],"and":[61,82,100],"caterpillar":[62],"tracks":[63],"modeling,":[64],"present":[66],"coherent":[68],"solution":[69],"further":[72,102],"validate":[73,93],"on":[74,89],"sample":[76],"three-module":[77],"STORM":[80],"(Self-configurable":[81],"Transformable":[83],"Omni-directional":[84],"Robotic":[85],"Modules).":[86],"Simulation":[87],"results":[88],"MSC":[90],"ADAMS":[91],"CAR":[92],"feasibility":[95],"synchronization":[98],"architecture,":[99],"offer":[101],"insight":[103],"dynamic":[106],"dependencies":[107],"coupled":[109],"motions.":[110]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}