{"id":"https://openalex.org/W2003748177","doi":"https://doi.org/10.1109/icra.2012.6224721","title":"Optimal decentralized gait transitions for snake robots","display_name":"Optimal decentralized gait transitions for snake robots","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2003748177","doi":"https://doi.org/10.1109/icra.2012.6224721","mag":"2003748177"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5019054528","display_name":"Greg Droge","orcid":"https://orcid.org/0000-0001-5247-8573"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Greg Droge","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","School of Electrical & Computer Engineering, Georgia Institute of Technology, Atlanta 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical & Computer Engineering, Georgia Institute of Technology, Atlanta 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magnus Egerstedt","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","School of Electrical & Computer Engineering, Georgia Institute of Technology, Atlanta 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical & Computer Engineering, Georgia Institute of Technology, Atlanta 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":1.6033,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79464994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"317","last_page":"322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9972000122070312,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9962000250816345,"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":0.7567991018295288},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7107143402099609},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485497951507568},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6300513744354248},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4250667691230774},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3549720346927643},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3358590602874756},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32514649629592896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24115297198295593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1936776340007782},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1778748631477356}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7567991018295288},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7107143402099609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485497951507568},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6300513744354248},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4250667691230774},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3549720346927643},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3358590602874756},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32514649629592896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24115297198295593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1936776340007782},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1778748631477356},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:smartech.gatech.edu:1853/44598","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/44598","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1138844713","https://openalex.org/W1424654272","https://openalex.org/W1546312393","https://openalex.org/W1570351331","https://openalex.org/W1973942504","https://openalex.org/W2003748177","https://openalex.org/W2015251504","https://openalex.org/W2031655736","https://openalex.org/W2033497856","https://openalex.org/W2045581174","https://openalex.org/W2067477688","https://openalex.org/W2104114185","https://openalex.org/W2149802487","https://openalex.org/W2156174987","https://openalex.org/W2179313173","https://openalex.org/W2296319761","https://openalex.org/W2611243847","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W4321378240","https://openalex.org/W8302103","https://openalex.org/W2998375644","https://openalex.org/W3171631314","https://openalex.org/W2113408265","https://openalex.org/W2674584172","https://openalex.org/W4238347986","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W4226051865"],"abstract_inverted_index":{"Snake":[0],"robots":[1],"are":[2,26],"controlled":[3],"by":[4,82],"implementing":[5,38],"gaits":[6,16,39,65,105],"inspired":[7],"from":[8],"their":[9],"biological":[10],"counterparts.":[11],"However,":[12],"transitioning":[13],"between":[14,64],"these":[15,95],"often":[17],"produces":[18],"undesired":[19],"oscillations":[20],"which":[21,40],"cause":[22],"net":[23],"movements":[24],"that":[25],"difficult":[27],"to":[28,51,62,76,99],"predict.":[29],"In":[30],"this":[31],"paper":[32],"we":[33],"present":[34,48],"a":[35,49,67,80,85,90],"framework":[36],"for":[37,43,56,73],"will":[41,71,97],"allow":[42,72],"smooth":[44],"transitions.":[45],"We":[46],"also":[47],"method":[50],"determine":[52],"the":[53,60,104],"optimal":[54],"time":[55],"each":[57,74],"module":[58,75],"of":[59,87,94,103],"snake":[61],"switch":[63],"in":[66,78,89],"decentralized":[68],"fashion.":[69],"This":[70],"participate":[77],"minimizing":[79],"cost":[81],"communicating":[83],"with":[84],"set":[86],"modules":[88],"local":[91],"neighborhood.":[92],"Both":[93],"developments":[96],"help":[98],"maintain":[100],"desired":[101],"properties":[102],"during":[106],"transition.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}