{"id":"https://openalex.org/W4386159892","doi":"https://doi.org/10.1109/icarm58088.2023.10218760","title":"Mechanism Design and Testing of a Mole-like Forelimb for Planetary Regolith - burrowing Exploration","display_name":"Mechanism Design and Testing of a Mole-like Forelimb for Planetary Regolith - burrowing Exploration","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159892","doi":"https://doi.org/10.1109/icarm58088.2023.10218760"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218760","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5018892977","display_name":"Zhaofeng Liang","orcid":"https://orcid.org/0000-0001-9799-0837"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhaofeng Liang","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101237552","display_name":"Hongmin Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongmin Zheng","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009189279","display_name":"Hongyu Wei","orcid":"https://orcid.org/0000-0001-9458-1886"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Wei","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060897397","display_name":"Shuangfei Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangfei Yu","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038382239","display_name":"Kun Xu","orcid":"https://orcid.org/0000-0002-3985-739X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005380095","display_name":"Chaoqun Xiang","orcid":"https://orcid.org/0000-0003-3955-4871"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Xiang","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047105106","display_name":"Haifei Zhu","orcid":"https://orcid.org/0000-0002-2463-4564"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064955660","display_name":"Kunyang Wang","orcid":"https://orcid.org/0000-0003-3807-3697"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunyang Wang","raw_affiliation_strings":["Jilin Uniity,Key Laboratory of Bionic Engineering (Ministry of Education),Jilin,China,130025"],"affiliations":[{"raw_affiliation_string":"Jilin Uniity,Key Laboratory of Bionic Engineering (Ministry of Education),Jilin,China,130025","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100375899","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0003-2159-1594"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"School of Electro-mechanical Engineering, Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5018892977"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.3989,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55699246,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"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":0.9991000294685364,"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/T10325","display_name":"Astro and Planetary Science","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"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/T10406","display_name":"Planetary Science and Exploration","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/forelimb","display_name":"Forelimb","score":0.9637242555618286},{"id":"https://openalex.org/keywords/regolith","display_name":"Regolith","score":0.7693910598754883},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6363398432731628},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5215803980827332},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5148783922195435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4698599576950073},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3885144889354706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3584701716899872},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26208215951919556},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.22686529159545898},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.1724192500114441},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.15834608674049377},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12403237819671631},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10677698254585266}],"concepts":[{"id":"https://openalex.org/C2778646069","wikidata":"https://www.wikidata.org/wiki/Q5468632","display_name":"Forelimb","level":2,"score":0.9637242555618286},{"id":"https://openalex.org/C41642174","wikidata":"https://www.wikidata.org/wiki/Q106551","display_name":"Regolith","level":2,"score":0.7693910598754883},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6363398432731628},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5215803980827332},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5148783922195435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4698599576950073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3885144889354706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3584701716899872},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26208215951919556},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.22686529159545898},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.1724192500114441},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.15834608674049377},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12403237819671631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10677698254585266},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218760","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4620516966","display_name":null,"funder_award_id":"2023B1515020080","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G8166284013","display_name":null,"funder_award_id":"52275011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1491191703","https://openalex.org/W1822755693","https://openalex.org/W2037398198","https://openalex.org/W2049447395","https://openalex.org/W2085879809","https://openalex.org/W2120675186","https://openalex.org/W2163766308","https://openalex.org/W2185778246","https://openalex.org/W2367556520","https://openalex.org/W2475047340","https://openalex.org/W2733196304","https://openalex.org/W3210467097","https://openalex.org/W3217404399","https://openalex.org/W6686609023","https://openalex.org/W6804763168"],"related_works":["https://openalex.org/W2368710213","https://openalex.org/W4385839086","https://openalex.org/W4308169262","https://openalex.org/W1510055941","https://openalex.org/W2986318738","https://openalex.org/W36267311","https://openalex.org/W2131102113","https://openalex.org/W1582582914","https://openalex.org/W2031755626","https://openalex.org/W2903025760"],"abstract_inverted_index":{"The":[0,143],"mole":[1],"is":[2,20],"a":[3,15,28,41,80,96,109],"natural":[4],"\u201cplumber\u201d":[5],"with":[6],"high":[7],"burrowing":[8,17,57,65,68,82,98,124,138,144,152],"efficiency,":[9],"and":[10,67,89,108],"its":[11,23,62],"forelimb":[12,43,73,105,121,134,148],"can":[13,154],"provide":[14],"strong":[16],"force":[18,99,145],"that":[19,75,132],"several":[21],"times":[22],"weight.":[24],"This":[25,38],"feature":[26],"provides":[27],"unique":[29],"thought":[30],"to":[31,70,113],"design":[32,71],"highly":[33],"efficient":[34],"planetary":[35,45],"regolith-burrowing":[36,46],"robots.":[37,58],"paper":[39],"proposes":[40],"mole-like":[42,56,137,151],"for":[44],"exploration.":[47],"First,":[48],"we":[49,60],"briefly":[50],"reviewed":[51],"the":[52,72,77,90,104,116,120,127,133,136,147,150],"current":[53],"status":[54],"of":[55,79,103,119,135,146,149],"Then,":[59],"applied":[61],"bionic":[63],"principle,":[64],"trajectory,":[66],"mode":[69],"mechanism":[74,88,101],"meets":[76],"requirements":[78],"specified":[81],"trajectory.":[83],"Further,":[84],"based":[85],"on":[86],"this":[87],"single":[91],"degree-of-freedom":[92],"(DOF)":[93],"drive":[94,161],"method,":[95],"cable-driven":[97],"amplification":[100],"(BFAM)":[102],"was":[106,111,140],"designed,":[107],"prototype":[110],"designed":[112],"experimentally":[114],"study":[115],"kinematic":[117],"characteristics":[118],"at":[122],"different":[123],"depths.":[125],"Finally,":[126],"results":[128],"were":[129],"analyzed,":[130],"showing":[131],"robot":[139,153],"reasonably":[141],"designed.":[142],"be":[155],"effectively":[156],"increased":[157],"without":[158],"adding":[159],"additional":[160],"elements.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}