{"id":"https://openalex.org/W2891384060","doi":"https://doi.org/10.1109/icra.2018.8461036","title":"Modeling and Control of Brachiating Robots Traversing Flexible Cables","display_name":"Modeling and Control of Brachiating Robots Traversing Flexible Cables","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891384060","doi":"https://doi.org/10.1109/icra.2018.8461036","mag":"2891384060"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5084689056","display_name":"Siavash Farzan","orcid":"https://orcid.org/0000-0001-6415-5560"},"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":"Siavash Farzan","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, 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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110691789","display_name":"Ai-Ping Hu","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"]},{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ai-Ping Hu","raw_affiliation_strings":["Georgia Tech Research Institute, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Tech Research Institute, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003762988","display_name":"Evan Davies","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":false,"raw_author_name":"Evan Davies","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010566772","display_name":"Jonathan Rogers","orcid":"https://orcid.org/0000-0001-7196-1691"},"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":"Jonathan Rogers","raw_affiliation_strings":["Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1645","last_page":"1652"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"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":0.9986000061035156,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9975000023841858,"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":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8105560541152954},{"id":"https://openalex.org/keywords/catenary","display_name":"Catenary","score":0.7348901629447937},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6970424652099609},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6679373383522034},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6472577452659607},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5462874174118042},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5061337351799011},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5046972036361694},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4737347364425659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4683973789215088},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.43488383293151855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42507120966911316},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34856998920440674},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33719033002853394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21841758489608765},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10871818661689758},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10446706414222717},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09666290879249573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08623278141021729}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8105560541152954},{"id":"https://openalex.org/C29279314","wikidata":"https://www.wikidata.org/wiki/Q214561","display_name":"Catenary","level":2,"score":0.7348901629447937},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6970424652099609},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6679373383522034},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6472577452659607},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5462874174118042},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5061337351799011},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5046972036361694},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4737347364425659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4683973789215088},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.43488383293151855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42507120966911316},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34856998920440674},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33719033002853394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21841758489608765},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10871818661689758},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10446706414222717},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09666290879249573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08623278141021729},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8461036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W259305364","https://openalex.org/W1738124305","https://openalex.org/W1941843239","https://openalex.org/W1988878743","https://openalex.org/W1992559929","https://openalex.org/W2003163723","https://openalex.org/W2006770307","https://openalex.org/W2010617747","https://openalex.org/W2012255747","https://openalex.org/W2013232999","https://openalex.org/W2018214860","https://openalex.org/W2021964812","https://openalex.org/W2027716970","https://openalex.org/W2028478368","https://openalex.org/W2044736184","https://openalex.org/W2084748705","https://openalex.org/W2085676028","https://openalex.org/W2098783977","https://openalex.org/W2111920136","https://openalex.org/W2117145719","https://openalex.org/W2117497110","https://openalex.org/W2121968116","https://openalex.org/W2134849319","https://openalex.org/W2158487795","https://openalex.org/W2167322920","https://openalex.org/W2221321873","https://openalex.org/W2339217605","https://openalex.org/W4291236916","https://openalex.org/W6640770417"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W4392107026","https://openalex.org/W2348074676","https://openalex.org/W2527106474","https://openalex.org/W2385033175","https://openalex.org/W2374043190"],"abstract_inverted_index":{"This":[0,37],"paper":[1],"describes":[2],"the":[3,50,94,101],"dynamic":[4],"modeling":[5],"and":[6,30,61,69],"locomotion":[7],"control":[8,46,62],"of":[9,23,52],"a":[10,16,24,27,87,106],"two-link":[11,25],"underactuated":[12],"brachiating":[13],"robot":[14,57],"traversing":[15],"flexible":[17,28,88],"cable.":[18,89,108],"A":[19],"multi-body":[20],"system":[21],"comprised":[22],"robot,":[26],"cable,":[29],"coupling":[31],"soft":[32],"junctions":[33],"is":[34,39],"modeled":[35],"dynamically.":[36],"model":[38],"used":[40],"to":[41],"formulate":[42],"an":[43],"energy-minimizing":[44],"optimal":[45,78,95],"strategy":[47],"that":[48,76],"includes":[49],"effects":[51],"cable":[53],"vibration":[54],"induced":[55],"by":[56],"locomotion.":[58],"Optimized":[59],"trajectories":[60],"torque":[63,79,96],"profiles":[64,80,97],"are":[65],"obtained":[66],"via":[67],"multiple-shooting":[68],"parametric":[70],"trajectory":[71],"approaches.":[72],"Simulation":[73],"results":[74],"show":[75],"these":[77],"result":[81],"in":[82],"energy-efficient":[83],"continuous":[84],"brachiation":[85],"over":[86],"Additional":[90],"studies":[91],"examine":[92],"how":[93],"change":[98],"depending":[99],"on":[100],"robot's":[102],"initial":[103],"position":[104],"along":[105],"catenary":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}