{"id":"https://openalex.org/W1970091046","doi":"https://doi.org/10.1109/icinfa.2014.6932774","title":"Dynamic simulation for 6-strut tensegrity robots","display_name":"Dynamic simulation for 6-strut tensegrity robots","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W1970091046","doi":"https://doi.org/10.1109/icinfa.2014.6932774","mag":"1970091046"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2014.6932774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2014.6932774","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 Information and Automation (ICIA)","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/A5108064743","display_name":"Wenjuan Du","orcid":"https://orcid.org/0000-0002-2482-6742"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenjuan Du","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, Liaoning, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365186","display_name":"Zhong\u2010Yuan Lu","orcid":"https://orcid.org/0000-0002-5103-0790"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, Liaoning, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376911","display_name":"Minghui Wang","orcid":"https://orcid.org/0000-0003-4517-6782"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghui Wang","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, Liaoning, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016 China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035821807","display_name":"Shinichi Hirai","orcid":"https://orcid.org/0000-0001-6076-0237"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Hirai","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga-ken, Japan","Department of Robotics  Ritsumeikan University  Shiga-ken 525-8577  Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga-ken, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics  Ritsumeikan University  Shiga-ken 525-8577  Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108064743"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":4.5384,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.9328651,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"870","last_page":"875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9973999857902527,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9879999756813049,"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/tensegrity","display_name":"Tensegrity","score":0.9944502711296082},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7870265245437622},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5789280533790588},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.5784977078437805},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5168333649635315},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4880308210849762},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4504269063472748},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4192585051059723},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3548480272293091},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33208173513412476},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2745997905731201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1604136824607849}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9944502711296082},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7870265245437622},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5789280533790588},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.5784977078437805},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5168333649635315},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4880308210849762},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4504269063472748},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4192585051059723},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3548480272293091},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33208173513412476},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2745997905731201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1604136824607849},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2014.6932774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2014.6932774","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 Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W55911903","https://openalex.org/W1979543021","https://openalex.org/W2007386075","https://openalex.org/W2019921597","https://openalex.org/W2066416030","https://openalex.org/W2089063010","https://openalex.org/W2101312054","https://openalex.org/W2123261982","https://openalex.org/W2139073742","https://openalex.org/W2149475811","https://openalex.org/W2156218502","https://openalex.org/W2165530525","https://openalex.org/W2333348933","https://openalex.org/W4251181231","https://openalex.org/W4255514133"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2382222318","https://openalex.org/W2090167696","https://openalex.org/W2123261982","https://openalex.org/W3213974257","https://openalex.org/W2968643431","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Tensegrity":[0,19],"robots":[1,6,20,43],"are":[2,44,116],"novel":[3],"flexible":[4],"mobile":[5],"based":[7],"on":[8],"the":[9,17,35,70,75,81,91,119],"conception":[10],"of":[11,83,86,98],"\u201ctensegrity":[12],"structures\u201d":[13],"that":[14,49],"cited":[15],"from":[16],"architecture.":[18],"possess":[21],"high":[22],"strength-mass":[23],"ratio,":[24],"deformation":[25],"capacity":[26],"and":[27,31,55,100,113],"shock":[28],"resistance":[29],"ability":[30],"can":[32,68],"adapt":[33],"to":[34],"environment":[36,104],"with":[37,47,80],"self-deformations.":[38],"Existing":[39],"simulations":[40,110],"for":[41,105,111],"tensegrity":[42,107],"carried":[45],"out":[46],"Matlab":[48],"required":[50],"complex":[51],"dynamics":[52],"modeling":[53,72],"process":[54],"additional":[56],"force":[57],"constraints.":[58],"Using":[59],"ODE":[60],"(Open":[61],"Dynamic":[62,109],"Engine)":[63],"as":[64],"a":[65,102],"simulation":[66,103,120],"tool":[67],"avoid":[69],"cumbersome":[71],"process.":[73],"However,":[74],"robot":[76],"model":[77],"would":[78],"collapse":[79],"growth":[82],"DOFs":[84,99],"(Degrees":[85],"Freedom).":[87],"This":[88],"paper":[89],"solves":[90],"stable":[92],"problem":[93],"caused":[94],"by":[95],"large":[96],"number":[97],"builds":[101],"6-strut":[106],"robots.":[108],"rolling":[112],"crawling":[114],"gaits":[115],"performed":[117],"in":[118],"environment.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
