{"id":"https://openalex.org/W1516001954","doi":"https://doi.org/10.1109/icar.2015.7251508","title":"Towards an embodied system-level architecture for mobile robots","display_name":"Towards an embodied system-level architecture for mobile robots","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1516001954","doi":"https://doi.org/10.1109/icar.2015.7251508","mag":"1516001954"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","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/A5000544464","display_name":"Conor McGinn","orcid":"https://orcid.org/0000-0001-9019-6809"},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":true,"raw_author_name":"Conor McGinn","raw_affiliation_strings":["Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]},{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011803351","display_name":"Michael F. Cullinan","orcid":"https://orcid.org/0000-0002-2716-1539"},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Michael Francis Cullinan","raw_affiliation_strings":["Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]},{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040283158","display_name":"George Ethelbert Walsh","orcid":null},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"George Walsh","raw_affiliation_strings":["Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]},{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061043145","display_name":"Cian Donavan","orcid":null},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Cian Donavan","raw_affiliation_strings":["Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]},{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091691187","display_name":"Kevin Kelly","orcid":"https://orcid.org/0000-0003-2939-2274"},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Kevin Kelly","raw_affiliation_strings":["Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]},{"raw_affiliation_string":"Dept. of Mechanical & Manuf. Engineering, Trinity College Dublin, Ireland","institution_ids":["https://openalex.org/I205274468"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5000544464"],"corresponding_institution_ids":["https://openalex.org/I205274468"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.02385798,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"536","last_page":"542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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":0.9994000196456909,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9980999827384949,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.989799976348877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6965051293373108},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6598772406578064},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.659719705581665},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6243501305580139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5370392203330994},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47661080956459045},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.3432832360267639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20083415508270264}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6965051293373108},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6598772406578064},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.659719705581665},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6243501305580139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5370392203330994},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47661080956459045},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.3432832360267639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20083415508270264},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2015.7251508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W34686378","https://openalex.org/W1484218370","https://openalex.org/W1543189474","https://openalex.org/W1582583288","https://openalex.org/W1875042776","https://openalex.org/W1975949753","https://openalex.org/W2029744358","https://openalex.org/W2036898774","https://openalex.org/W2073615877","https://openalex.org/W2100119371","https://openalex.org/W2102391606","https://openalex.org/W2110178871","https://openalex.org/W2110885045","https://openalex.org/W2116755374","https://openalex.org/W2124347077","https://openalex.org/W2147937911","https://openalex.org/W2148033465","https://openalex.org/W2151717183","https://openalex.org/W2163167806","https://openalex.org/W2164162754","https://openalex.org/W2250706791","https://openalex.org/W2397253692","https://openalex.org/W2468050848","https://openalex.org/W2901136733","https://openalex.org/W3184766140","https://openalex.org/W4236528914","https://openalex.org/W4252031641","https://openalex.org/W4285255129","https://openalex.org/W6601420619","https://openalex.org/W6676388466","https://openalex.org/W6756486208","https://openalex.org/W6818362809","https://openalex.org/W7062782387"],"related_works":["https://openalex.org/W2380179524","https://openalex.org/W4283365723","https://openalex.org/W2963001125","https://openalex.org/W2091233881","https://openalex.org/W2352366064","https://openalex.org/W4250820896","https://openalex.org/W2124102101","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2038503502"],"abstract_inverted_index":{"In":[0],"robotics,":[1],"a":[2,11,35,84],"system":[3,95],"architecture":[4,38,61,74],"refers":[5],"to":[6,119,125],"the":[7,32,60,72,80,100,104,109,127,130],"manner":[8],"in":[9,45],"which":[10,39,112],"robot's":[12],"control":[13,121],"components":[14,122],"(including":[15],"sensors,":[16],"actuators,":[17],"microcontrollers":[18],"and":[19,23,64,83],"computers)":[20],"are":[21,62,115],"connected":[22],"how":[24],"information":[25],"flows":[26],"between":[27],"them.":[28],"This":[29],"paper":[30],"describes":[31],"development":[33],"of":[34,71,87,103,129],"two-tiered":[36],"hybrid":[37],"draws":[40],"close":[41],"inspiration":[42],"from":[43,117],"concepts":[44],"both":[46],"embodied":[47],"artificial":[48],"intelligence":[49,54],"as":[50,52],"well":[51],"social":[53],"theory.":[55],"The":[56,92],"design":[57],"requirements":[58],"for":[59],"postulated":[63],"their":[65],"inclusion":[66],"justified.":[67],"A":[68],"prototype":[69],"embodiment":[70],"proposed":[73],"has":[75],"been":[76],"practically":[77],"implemented":[78],"on":[79],"\u201cRobbie\u201d":[81],"robot":[82,105],"detailed":[85],"discussion":[86],"its":[88],"implementation":[89],"is":[90,96,123],"presented.":[91],"low-level":[93,118],"proprioceptive":[94],"demonstrated":[97],"by":[98],"tracking":[99],"forward":[101],"kinematics":[102],"over":[106],"time.":[107],"Additionally,":[108],"speed":[110],"with":[111],"sensor":[113],"readings":[114],"transferred":[116],"high-level":[120],"quantified":[124],"convey":[126],"scalability":[128],"system.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}