{"id":"https://openalex.org/W3207819071","doi":"https://doi.org/10.1109/icra48506.2021.9561060","title":"Innovative Design and Simulation of a Transformable Robot with Flexibility and Versatility, RHex-T3","display_name":"Innovative Design and Simulation of a Transformable Robot with Flexibility and Versatility, RHex-T3","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207819071","doi":"https://doi.org/10.1109/icra48506.2021.9561060","mag":"3207819071"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5039087352","display_name":"Yue Lin","orcid":"https://orcid.org/0000-0001-9196-9180"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Lin","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China","School of Computer Science and Technology, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China","institution_ids":["https://openalex.org/I198091727"]},{"raw_affiliation_string":"School of Computer Science and Technology, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077617669","display_name":"Yujia Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujia Tian","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China","School of Computer Science and Technology, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China","institution_ids":["https://openalex.org/I198091727"]},{"raw_affiliation_string":"School of Computer Science and Technology, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041134676","display_name":"Yongjiang Xue","orcid":"https://orcid.org/0000-0002-3487-0309"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjiang Xue","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China","School of Computer Science and Technology, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China","institution_ids":["https://openalex.org/I198091727"]},{"raw_affiliation_string":"School of Computer Science and Technology, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015854677","display_name":"Shujun Han","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shujun Han","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China","School of Computer Science and Technology, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China","institution_ids":["https://openalex.org/I198091727"]},{"raw_affiliation_string":"School of Computer Science and Technology, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000940583","display_name":"Huaiyu Zhang","orcid":"https://orcid.org/0000-0002-0815-7972"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaiyu Zhang","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China","School of Computer Science and Technology, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China","institution_ids":["https://openalex.org/I198091727"]},{"raw_affiliation_string":"School of Computer Science and Technology, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111114722","display_name":"Wenxin Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxin Lai","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China","School of Computer Science and Technology, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China","institution_ids":["https://openalex.org/I198091727"]},{"raw_affiliation_string":"School of Computer Science and Technology, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008342125","display_name":"Xuan Xiao","orcid":"https://orcid.org/0000-0003-3230-0086"},"institutions":[{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuan Xiao","raw_affiliation_strings":["Tiangong University,School of Computer Science and Technology,Tianjin,China","School of Computer Science and Technology, Tiangong University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tiangong University,School of Computer Science and Technology,Tianjin,China","institution_ids":["https://openalex.org/I198091727"]},{"raw_affiliation_string":"School of Computer Science and Technology, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4246,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.57989596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6992","last_page":"6998"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9939000010490417,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.8008413910865784},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.7781420946121216},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.6561799049377441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6482458710670471},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6135292053222656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5367352366447449},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37091097235679626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27755942940711975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1667584776878357},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15722566843032837},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.10826945304870605}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.8008413910865784},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.7781420946121216},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.6561799049377441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6482458710670471},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6135292053222656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5367352366447449},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37091097235679626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27755942940711975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1667584776878357},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15722566843032837},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.10826945304870605},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320336756","display_name":"Tianjin Science and Technology Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1570717418","https://openalex.org/W1822001265","https://openalex.org/W1994135909","https://openalex.org/W2101313180","https://openalex.org/W2106109021","https://openalex.org/W2122414132","https://openalex.org/W2129287493","https://openalex.org/W2136836982","https://openalex.org/W2149278159","https://openalex.org/W2171576207","https://openalex.org/W2618496359","https://openalex.org/W2951519982","https://openalex.org/W2967118761","https://openalex.org/W3091578825","https://openalex.org/W6764146236"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W2009505450","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2614603712","https://openalex.org/W2072651286","https://openalex.org/W2002592812","https://openalex.org/W1961064824"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,54],"transformable":[4,21],"RHex-inspired":[5],"robot,":[6],"RHex-T3,":[7,47],"with":[8],"high":[9],"energy":[10],"efficiency,":[11],"excellent":[12],"flexibility":[13],"and":[14,29,48,73,91,100],"versatility.":[15],"By":[16],"using":[17,78],"the":[18,44,49,68,79,88,93],"innovative":[19],"2-DoF":[20],"structure,":[22,90],"RHex-T3":[23,58,64],"inherits":[24],"most":[25],"of":[26,46],"RHex\u2019s":[27],"mobility,":[28],"can":[30,65],"also":[31],"switch":[32,66],"to":[33,52,67],"other":[34],"4":[35],"modes":[36,97],"for":[37,70],"handling":[38],"various":[39],"missions.":[40],"The":[41,81],"wheel-mode":[42],"improves":[43],"efficiency":[45],"leg-mode":[50],"helps":[51],"generate":[53],"smooth":[55],"locomotion":[56],"when":[57],"is":[59,84],"overcoming":[60],"obstacles.":[61],"In":[62],"addition,":[63],"claw-mode":[69],"transportation":[71],"missions,":[72],"even":[74],"climb":[75],"ladders":[76],"by":[77],"hook-mode.":[80],"simulation":[82],"model":[83],"conducted":[85],"based":[86],"on":[87],"mechanical":[89],"thus":[92],"properties":[94],"in":[95],"different":[96],"are":[98],"verified":[99],"analyzed":[101],"through":[102],"numerical":[103],"simulations.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}