{"id":"https://openalex.org/W1541112841","doi":"https://doi.org/10.1109/icra.2015.7139717","title":"Incorporating frictional anisotropy in the design of a robotic snake through the exploitation of scales","display_name":"Incorporating frictional anisotropy in the design of a robotic snake through the exploitation of scales","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1541112841","doi":"https://doi.org/10.1109/icra.2015.7139717","mag":"1541112841"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139717","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 Robotics and Automation (ICRA)","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/A5023745753","display_name":"Miguel M. Serrano","orcid":null},"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":true,"raw_author_name":"Miguel M. Serrano","raw_affiliation_strings":["Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071675404","display_name":"Alexander H. Chang","orcid":"https://orcid.org/0000-0001-9036-100X"},"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":"Alexander H. Chang","raw_affiliation_strings":["Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026672123","display_name":"Guangcong Zhang","orcid":"https://orcid.org/0000-0003-3105-1903"},"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":"Guangcong Zhang","raw_affiliation_strings":["Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036991903","display_name":"Patricio A. Vela","orcid":"https://orcid.org/0000-0002-6888-7002"},"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":"Patricio A. Vela","raw_affiliation_strings":["Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Department of Electrical Engineering and the Institute for Robotics and Intelligent Machines at Georgia Institute of Technology, Atlanta, 30308, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023745753"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":1.2321,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.79031025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"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":0.9988999962806702,"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":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973999857902527,"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/T10879","display_name":"Robotic Locomotion and Control","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/chassis","display_name":"Chassis","score":0.7416573762893677},{"id":"https://openalex.org/keywords/casing","display_name":"Casing","score":0.652134120464325},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5944600105285645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5131579041481018},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.463396817445755},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43072906136512756},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.40285295248031616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36602213978767395},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3009542226791382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20864245295524597}],"concepts":[{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.7416573762893677},{"id":"https://openalex.org/C30399818","wikidata":"https://www.wikidata.org/wiki/Q5048830","display_name":"Casing","level":2,"score":0.652134120464325},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5944600105285645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5131579041481018},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.463396817445755},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43072906136512756},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.40285295248031616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36602213978767395},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3009542226791382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20864245295524597},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139717","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W1564897360","https://openalex.org/W1573670163","https://openalex.org/W1971688004","https://openalex.org/W1975092577","https://openalex.org/W1986253444","https://openalex.org/W2067477688","https://openalex.org/W2068856141","https://openalex.org/W2085529016","https://openalex.org/W2099210720","https://openalex.org/W2104013074","https://openalex.org/W2123297103","https://openalex.org/W2125096161","https://openalex.org/W2143197047","https://openalex.org/W2159128898","https://openalex.org/W3172424995","https://openalex.org/W3217246742","https://openalex.org/W4240215908","https://openalex.org/W6674887781"],"related_works":["https://openalex.org/W2378268140","https://openalex.org/W2059239878","https://openalex.org/W2935843774","https://openalex.org/W2051851664","https://openalex.org/W2658066576","https://openalex.org/W1069034051","https://openalex.org/W201498455","https://openalex.org/W2364297307","https://openalex.org/W4285723892","https://openalex.org/W2328317394"],"abstract_inverted_index":{"The":[0,83,113],"scales":[1,25,50,146],"on":[2,98],"the":[3,13,22,27,52,59,62,86,92,128,148],"skin":[4],"of":[5,12,24,29,54,61,85,91,105,127],"a":[6,43,135],"snake":[7,45,87],"are":[8,131],"an":[9,139],"integral":[10],"part":[11],"snake's":[14],"locomotive":[15,142],"capabilities.":[16],"It":[17],"stands":[18],"to":[19,36],"reason":[20],"that":[21,47],"integration":[23],"into":[26],"design":[28,46],"robotic":[30,44],"snakes":[31],"would":[32],"open":[33],"new":[34],"properties":[35],"exploit.":[37],"In":[38],"this":[39],"work,":[40],"we":[41],"present":[42],"incorporates":[48],"rigid":[49],"in":[51,73,79,89,141,147],"casing":[53],"each":[55,90,104],"module.":[56],"To":[57],"validate":[58],"impact":[60],"scales,":[63,71,76],"locomotion":[64],"is":[65,95,117],"tested":[66,118],"under":[67,119],"three":[68],"conditions:":[69,122],"with":[70,75],"covered":[72,78],"cloth":[74,80],"and":[77,110,124],"without":[81],"scales.":[82],"performance":[84,143],"robot,":[88],"aforementioned":[93],"scenarios,":[94],"evaluated":[96],"based":[97],"its":[99],"forward":[100],"displacement":[101],"while":[102],"executing":[103],"two":[106,120],"pre-programmed":[107],"gaits:":[108],"inchworm":[109],"lateral":[111,114],"undulation.":[112],"undulation":[115],"gait":[116],"additional":[121],"pitched":[123],"un-pitched.":[125],"Tracks":[126],"experimental":[129],"runs":[130],"presented":[132],"followed":[133],"by":[134],"statistical":[136],"analysis":[137],"demonstrating":[138],"increase":[140],"when":[144],"incorporating":[145],"chassis":[149],"design.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}