{"id":"https://openalex.org/W2079028574","doi":"https://doi.org/10.1109/coase.2014.6899427","title":"Continuum worm-like robotic mechanism with decentral control architecture","display_name":"Continuum worm-like robotic mechanism with decentral control architecture","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2079028574","doi":"https://doi.org/10.1109/coase.2014.6899427","mag":"2079028574"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2014.6899427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1281512","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058967954","display_name":"M. Eder","orcid":"https://orcid.org/0000-0002-5306-365X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Eder","raw_affiliation_strings":["Faculty of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","Faculty of Informatics, Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, D-85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Faculty of Informatics, Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, D-85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035705687","display_name":"Maximilian Karl","orcid":"https://orcid.org/0000-0001-8959-368X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Karl","raw_affiliation_strings":["Faculty of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","Faculty of Informatics, Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, D-85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Faculty of Informatics, Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, D-85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Faculty of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","Faculty of Informatics, Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, D-85748 Garching bei M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Faculty of Informatics, Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, D-85748 Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074147964","display_name":"Stefan Riesner","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stefan Riesner","raw_affiliation_strings":["Robotics Technology Leaders GmbH, M\u00fcnchen, Germany","Robotics Technology Leaders GmbH, D-81247 M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Technology Leaders GmbH, M\u00fcnchen, Germany","institution_ids":[]},{"raw_affiliation_string":"Robotics Technology Leaders GmbH, D-81247 M\u00fcnchen, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8015,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84515012,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9848999977111816,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.980400025844574,"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/robot","display_name":"Robot","score":0.7383337020874023},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6466016173362732},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.536773681640625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5282401442527771},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.4774666130542755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4436110258102417},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41374337673187256},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4122653007507324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3926820158958435},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.36897996068000793},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3441723883152008},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3361078202724457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24780428409576416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08954286575317383}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7383337020874023},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6466016173362732},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.536773681640625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5282401442527771},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.4774666130542755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4436110258102417},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41374337673187256},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4122653007507324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3926820158958435},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.36897996068000793},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3441723883152008},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3361078202724457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24780428409576416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08954286575317383},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":3,"locations":[{"id":"doi:10.1109/coase.2014.6899427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.702.258","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.702.258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www6.in.tum.de/Main/Publications/Eder.2014.pdf","raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1281512","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1281512","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1281512","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1281512","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1509463226","https://openalex.org/W1560270123","https://openalex.org/W1579240551","https://openalex.org/W1891615552","https://openalex.org/W2007443511","https://openalex.org/W2019428733","https://openalex.org/W2048704989","https://openalex.org/W2063797945","https://openalex.org/W2075412946","https://openalex.org/W2094766964","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2112248299","https://openalex.org/W2116086091","https://openalex.org/W2124540383","https://openalex.org/W2134489096","https://openalex.org/W2134668622","https://openalex.org/W2146587048","https://openalex.org/W2166613956","https://openalex.org/W2532491179","https://openalex.org/W6634778147","https://openalex.org/W6676845597","https://openalex.org/W6679846227"],"related_works":["https://openalex.org/W161911597","https://openalex.org/W2243273055","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W4317826762"],"abstract_inverted_index":{"Flexible":[0],"continuum":[1,52,130],"robots":[2,12,34],"are":[3,13,98],"utilized":[4],"for":[5,29],"operational":[6],"areas,":[7],"in":[8,73],"which":[9,25,71,97],"discretely":[10],"structured":[11],"not":[14],"suitable":[15],"due":[16],"to":[17],"their":[18],"kinematic":[19],"limitations.":[20],"Continuum":[21],"mechanisms":[22],"feature":[23],"adaptiveness,":[24],"is":[26,48,64],"a":[27,49,57,86,116,129],"prerequisite":[28],"constrained":[30],"spaces.":[31],"Furthermore,":[32],"such":[33],"can":[35],"be":[36],"integrated":[37],"within":[38],"human-robot":[39],"interaction":[40],"scenarios.":[41],"The":[42],"crucial":[43],"contribution":[44],"of":[45,128,138],"this":[46],"work":[47],"novel":[50],"intrinsic":[51],"worm-like":[53],"robot":[54,131],"based":[55],"on":[56],"modular":[58],"and":[59,111],"decentral":[60],"control":[61,119],"architecture.":[62],"It":[63],"actuated":[65],"by":[66],"pneumatic":[67],"artificial":[68],"muscles":[69],"(PAMs),":[70],"result":[72],"an":[74,126],"inherently":[75],"compliant":[76],"robotic":[77],"system.":[78],"To":[79],"realize":[80],"the":[81,83,105,109,112],"modularity,":[82],"setup":[84],"deploys":[85],"central":[87],"air":[88],"supply":[89,106],"that":[90],"feeds":[91],"locally":[92],"arranged":[93],"valve":[94],"cluster":[95],"units,":[96],"connected":[99],"with":[100,120,132],"short":[101],"stub":[102],"lines.":[103],"Keeping":[104],"tubes":[107],"between":[108],"valves":[110],"PAMs":[113],"short,":[114],"guarantees":[115],"very":[117],"direct":[118],"good":[121],"precision.":[122],"This":[123],"paper":[124],"presents":[125],"implementation":[127],"four":[133],"segments":[134],"comprising":[135],"twelve":[136],"degrees":[137],"freedom.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}