{"id":"https://openalex.org/W2019962938","doi":"https://doi.org/10.1109/icra.2013.6631313","title":"Dynamical analysis of sidewinding locomotion by a snake-like robot","display_name":"Dynamical analysis of sidewinding locomotion by a snake-like robot","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2019962938","doi":"https://doi.org/10.1109/icra.2013.6631313","mag":"2019962938"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5041139706","display_name":"Ryo Ariizumi","orcid":"https://orcid.org/0000-0002-2791-9979"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryo Ariizumi","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan","Dept. of Mech. Eng. & Sci., Kyoto Univ., Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Sci., Kyoto Univ., Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan","Dept. of Mech. Eng. & Sci., Kyoto Univ., Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Sci., Kyoto Univ., Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041139706"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":0.2003,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.55840083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5149","last_page":"5154"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980000257492065,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9968000054359436,"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":0.6645834445953369},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6438044309616089},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6251590251922607},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5936440229415894},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5316026210784912},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.5252475142478943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4644245207309723},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.4512922763824463},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.44256073236465454},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42990797758102417},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3769391179084778},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3438572883605957},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.21831876039505005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16089874505996704},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13391268253326416}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6645834445953369},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6438044309616089},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6251590251922607},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5936440229415894},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5316026210784912},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.5252475142478943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4644245207309723},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.4512922763824463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.44256073236465454},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42990797758102417},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3769391179084778},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3438572883605957},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.21831876039505005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16089874505996704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13391268253326416},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"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/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1573670163","https://openalex.org/W1939016165","https://openalex.org/W1966086223","https://openalex.org/W1970890205","https://openalex.org/W1976418738","https://openalex.org/W2065018616","https://openalex.org/W2067477688","https://openalex.org/W2091818544","https://openalex.org/W2102252220","https://openalex.org/W2103615905","https://openalex.org/W2104114185","https://openalex.org/W2106222102","https://openalex.org/W2121691155","https://openalex.org/W2123431998","https://openalex.org/W2128524243","https://openalex.org/W2138939375","https://openalex.org/W2146418849","https://openalex.org/W2146774371","https://openalex.org/W2254021446","https://openalex.org/W2545049622","https://openalex.org/W6681737879"],"related_works":["https://openalex.org/W2368019753","https://openalex.org/W2333930193","https://openalex.org/W2737356002","https://openalex.org/W2246241526","https://openalex.org/W4301122218","https://openalex.org/W2374150061","https://openalex.org/W2081340182","https://openalex.org/W2402852349","https://openalex.org/W1976826023","https://openalex.org/W3130903143"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,10,21,84],"dynamical":[4],"analysis":[5],"of":[6,50,57,91,93],"sidewinding":[7,51,65,96],"locomotion":[8,17,52,66,97],"by":[9,44],"snake":[11],"like":[12],"robot":[13],"is":[14,18,53,80,83],"presented.":[15],"Sidewinding":[16],"treated":[19],"as":[20],"planar":[22],"movement":[23],"for":[24,95],"simplicity,":[25],"and":[26,35,72],"the":[27,32,36,64,74,77,88],"normal":[28],"forces":[29],"acting":[30],"on":[31,39],"grounded":[33],"links":[34],"torques":[37],"applied":[38],"pitch":[40],"joints":[41],"are":[42],"calculated":[43],"solving":[45],"equilibrium":[46],"equations.":[47],"Energy":[48],"efficiency":[49],"compared":[54],"with":[55],"that":[56,63],"lateral":[58,103],"undulation.":[59,104],"Simulation":[60],"results":[61],"show":[62],"is,":[67],"generally,":[68],"energetically":[69],"more":[70,100],"efficient,":[71],"in":[73,87],"case":[75],"where":[76],"viscous":[78],"coefficient":[79],"small,":[81],"there":[82],"lower":[85],"bound":[86],"mean":[89],"velocity":[90],"center":[92],"mass":[94],"to":[98],"be":[99],"efficient":[101],"than":[102]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}
