{"id":"https://openalex.org/W2007148970","doi":"https://doi.org/10.1109/icmech.2015.7084025","title":"Modeling and control of snake-like robot to move in the tube","display_name":"Modeling and control of snake-like robot to move in the tube","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W2007148970","doi":"https://doi.org/10.1109/icmech.2015.7084025","mag":"2007148970"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2015.7084025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7084025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Mechatronics (ICM)","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/A5040410391","display_name":"M. Shell","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Michael Shell","raw_affiliation_strings":["Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018852489","display_name":"Makito Kasahara","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Makito Kasahara","raw_affiliation_strings":["Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086896643","display_name":"Takeru Ynagida","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeru Ynagida","raw_affiliation_strings":["Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053576672","display_name":"Masami Iwase","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masami Iwase","raw_affiliation_strings":["Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life Tokyo Denki University, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki University, 5 Senju-Asahi-cho Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5040410391"],"corresponding_institution_ids":["https://openalex.org/I165522056"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06194973,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"72","issue":null,"first_page":"488","last_page":"493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9986000061035156,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976999759674072,"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/robot","display_name":"Robot","score":0.6555554866790771},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5864654779434204},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5364682674407959},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5325353145599365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5070946216583252},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.5019214153289795},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4671962261199951},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3623877167701721},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32481950521469116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29952484369277954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17078185081481934},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13246500492095947},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.058247536420822144}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6555554866790771},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5864654779434204},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5364682674407959},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5325353145599365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5070946216583252},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.5019214153289795},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4671962261199951},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3623877167701721},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32481950521469116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29952484369277954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17078185081481934},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13246500492095947},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.058247536420822144},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmech.2015.7084025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7084025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1727800621","https://openalex.org/W2004664957","https://openalex.org/W2161915722","https://openalex.org/W2163942943","https://openalex.org/W2330045704","https://openalex.org/W4250574900","https://openalex.org/W6637532198"],"related_works":["https://openalex.org/W1611715872","https://openalex.org/W2375955557","https://openalex.org/W2317413863","https://openalex.org/W2118558275","https://openalex.org/W8302103","https://openalex.org/W2082053629","https://openalex.org/W2385884399","https://openalex.org/W2385118824","https://openalex.org/W2217181849","https://openalex.org/W4212912793"],"abstract_inverted_index":{"The":[0,15,39],"purpose":[1],"of":[2,9,17],"this":[3],"study":[4],"is":[5,24,34,42,68],"to":[6,70],"realize":[7],"driving":[8,29,40],"snake-like":[10,19,57],"robot":[11,20,58],"in":[12,21,61],"a":[13,22,62],"tube.":[14],"modeling":[16],"the":[18,28,32,51,56,71],"tube":[23,63],"important":[25],"for":[26],"design":[27],"control.":[30],"Hence":[31],"model":[33],"described":[35],"by":[36,44],"Projection":[37],"Method.":[38],"control":[41],"derived":[43],"State":[45],"Dependent":[46],"Riccati":[47],"Equation":[48],"based":[49],"on":[50],"model.":[52],"Numerical":[53],"simulations":[54],"present":[55],"can":[59],"drive":[60],"as":[64],"its":[65],"head":[66],"position":[67],"converged":[69],"origin.":[72]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}