{"id":"https://openalex.org/W4413918682","doi":"https://doi.org/10.1109/icra55743.2025.11128097","title":"Enhancing Connection Strength in Freeform Modular Reconfigurable Robots Through Holey Sphere and Gripper Mechanisms","display_name":"Enhancing Connection Strength in Freeform Modular Reconfigurable Robots Through Holey Sphere and Gripper Mechanisms","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918682","doi":"https://doi.org/10.1109/icra55743.2025.11128097"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5101884569","display_name":"Peiqi Wang","orcid":"https://orcid.org/0000-0001-5886-9014"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peiqi Wang","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034715667","display_name":"Guanqi Liang","orcid":"https://orcid.org/0000-0001-7048-8353"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanqi Liang","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013582768","display_name":"Dapeng Zhao","orcid":"https://orcid.org/0000-0003-2096-5195"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Da Zhao","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076185690","display_name":"Tin Lun Lam","orcid":"https://orcid.org/0000-0002-6363-1446"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tin Lun Lam","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101884569"],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.7366,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73944925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7923","last_page":"7929"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9965999722480774,"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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/connection","display_name":"Connection (principal bundle)","score":0.7059804201126099},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.695283055305481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6795914173126221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49069225788116455},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38248467445373535},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.35175609588623047},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3212449550628662},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29179295897483826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13308101892471313},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08850601315498352}],"concepts":[{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.7059804201126099},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.695283055305481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6795914173126221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49069225788116455},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38248467445373535},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.35175609588623047},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3212449550628662},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29179295897483826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13308101892471313},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08850601315498352}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1160427777","display_name":null,"funder_award_id":"62073274","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1489108251","https://openalex.org/W2020579277","https://openalex.org/W2099661118","https://openalex.org/W2106675317","https://openalex.org/W2111147736","https://openalex.org/W2124599979","https://openalex.org/W2151648288","https://openalex.org/W2167382904","https://openalex.org/W2347780155","https://openalex.org/W2608855996","https://openalex.org/W3015563126","https://openalex.org/W3047502108","https://openalex.org/W3129469851","https://openalex.org/W3132467394","https://openalex.org/W3213490840","https://openalex.org/W4225163401","https://openalex.org/W4285022062","https://openalex.org/W4285102183","https://openalex.org/W4285102567","https://openalex.org/W4313357555","https://openalex.org/W4386233521","https://openalex.org/W4387129574","https://openalex.org/W4396213998","https://openalex.org/W4403387754"],"related_works":["https://openalex.org/W587735977","https://openalex.org/W1978142926","https://openalex.org/W3157395178","https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W184455116","https://openalex.org/W3210795196","https://openalex.org/W2058473748","https://openalex.org/W963756281","https://openalex.org/W3015461243"],"abstract_inverted_index":{"Freeform":[0],"modular":[1],"self-reconfigurable":[2],"robot":[3],"(MSRR)":[4],"systems":[5],"overcome":[6],"traditional":[7],"docking":[8],"limitations,":[9],"enabling":[10],"rapid":[11],"and":[12,30,37,52,62,89,119,127,139,154,159,168,173],"continuous":[13],"connections":[14,135],"between":[15],"modules":[16],"in":[17,22,34,40,136,162],"any":[18,137],"direction.":[19],"Recent":[20],"advancements":[21],"freeform":[23,50],"MSRR":[24],"technology":[25],"have":[26],"significantly":[27],"enhanced":[28],"connectivity":[29],"mobility.":[31],"However,":[32],"limitations":[33],"connector":[35,51,166],"strength":[36],"operational":[38],"efficiency":[39],"existing":[41],"designs":[42,145],"restrict":[43],"performance.":[44],"This":[45,99],"paper":[46],"proposes":[47],"a":[48,53,73,77,90,111,150],"rigid":[49,54,91],"magnetic":[55,120],"track":[56],"design":[57,93],"to":[58,95,104],"improve":[59],"the":[60,66,87,96,108,115,125,163],"connection":[61,158],"motion":[63,160],"performance":[64,161],"of":[65,110,124,143,152],"SnailBot.":[67],"Each":[68],"SnailBot":[69,103,164],"is":[70],"equipped":[71],"with":[72,81],"multi-channel":[74],"rope-driven":[75],"gripper,":[76],"metal":[78],"spherical":[79,97,117,128],"shell":[80,118,129],"densely":[82],"distributed":[83],"circular":[84],"holes":[85],"on":[86],"back,":[88],"chain":[92],"conforming":[94],"surface.":[98],"combination":[100],"allows":[101],"each":[102],"move":[105],"precisely":[106],"along":[107],"surface":[109],"peer,":[112],"facilitated":[113],"by":[114],"ferromagnetic":[116],"track.":[121],"The":[122,141],"integration":[123],"gripper":[126],"hole":[130],"array":[131],"provides":[132],"robust":[133],"inter-module":[134],"position":[138],"orientation.":[140],"effectiveness":[142],"these":[144],"has":[146],"been":[147],"validated":[148],"through":[149],"series":[151],"experiments":[153],"analyses,":[155],"demonstrating":[156],"improved":[157],"dual-mode":[165],"system":[167],"expanding":[169],"its":[170],"potential":[171],"applications":[172],"functional":[174],"capabilities.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-02-26T08:16:20.718346","created_date":"2025-10-10T00:00:00"}
