{"id":"https://openalex.org/W4413926102","doi":"https://doi.org/10.1109/icra55743.2025.11128346","title":"Mathematical Modeling and Rolling Motion Generation of Planar Seven-link Robot That Forms Passive Closed and Active Open Chains","display_name":"Mathematical Modeling and Rolling Motion Generation of Planar Seven-link Robot That Forms Passive Closed and Active Open Chains","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926102","doi":"https://doi.org/10.1109/icra55743.2025.11128346"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128346","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/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology,Nomi,Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology,Nomi,Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106356459","display_name":"Taiki Sedoguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taiki Sedoguchi","raw_affiliation_strings":["Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology,Nomi,Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology,Nomi,Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038629773","display_name":"Isao T. Tokuda","orcid":"https://orcid.org/0000-0001-6212-0022"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Isao Tokuda","raw_affiliation_strings":["Ritsumeikan University,Department of Mechanical Engineering,Kusatsu,Shiga,Japan,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Department of Mechanical Engineering,Kusatsu,Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9811,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76359399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7431","last_page":"7437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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":0.9984999895095825,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.635089635848999},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.6258262991905212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5501129627227783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4988119602203369},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4703643023967743},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4162364602088928},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41393816471099854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35289138555526733},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3265305757522583},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2136583924293518},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.18508616089820862}],"concepts":[{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.635089635848999},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.6258262991905212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5501129627227783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4988119602203369},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4703643023967743},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4162364602088928},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41393816471099854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35289138555526733},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3265305757522583},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2136583924293518},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.18508616089820862},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128346","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2000800468","https://openalex.org/W2018891627","https://openalex.org/W2098759357","https://openalex.org/W2118032271","https://openalex.org/W2138873205","https://openalex.org/W2162919260","https://openalex.org/W2163668399","https://openalex.org/W2901741737","https://openalex.org/W3023678823","https://openalex.org/W3042035775","https://openalex.org/W3128965493"],"related_works":["https://openalex.org/W1518185400","https://openalex.org/W3200586296","https://openalex.org/W4230332972","https://openalex.org/W1998033311","https://openalex.org/W4247322236","https://openalex.org/W1762272577","https://openalex.org/W4206960768","https://openalex.org/W2053253456","https://openalex.org/W2974070543","https://openalex.org/W2044900919"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,38,67,77,83,91,96,104,111,116,121,129,134,139,146,151,157,163],"mathematical":[4,97],"modeling":[5],"and":[6,18,37,57,94,101,108,143],"basic":[7],"motion":[8,100,112,126,147],"properties":[9],"of":[10,86,99,103,159,162],"planar":[11],"seven-link":[12],"robots":[13],"that":[14,155],"forms":[15,70],"passive":[16,23,105],"closed":[17,24,106],"active":[19,39,135],"open":[20,40,136],"chains.":[21],"The":[22,50],"model":[25,41,56,92],"is":[26,42,52],"formed":[27,43],"by":[28,44,75,114,149],"connecting":[29,45],"seven":[30,34],"rigid":[31],"frames":[32],"via":[33,47],"viscoelastic":[35],"joints,":[36],"them":[46],"actuated":[48],"joints.":[49],"former":[51],"a":[53,63,71],"convex":[54],"heptagonal":[55],"can":[58],"exhibit":[59],"passive-dynamic":[60],"rolling":[61],"on":[62],"gentle":[64],"downhill,":[65],"whereas":[66],"latter":[68],"virtually":[69],"forward-leaning":[72],"octagonal":[73],"shape":[74],"controlling":[76],"six":[78],"relative":[79],"joint":[80],"angles.":[81],"In":[82,128],"first":[84],"half":[85],"this":[87],"paper,":[88],"we":[89,132],"describe":[90],"assumptions":[93],"develop":[95,138],"equations":[98],"collision":[102],"model,":[107,137],"numerically":[109,144],"analyze":[110,145],"characteristics":[113,148],"changing":[115,150],"slope":[117],"angle":[118,153],"while":[119],"checking":[120],"conditions":[122],"necessary":[123],"for":[124],"stable":[125],"generation.":[127],"second":[130],"half,":[131],"outline":[133],"PD":[140],"control":[141],"system,":[142],"target":[152],"parameter":[154],"controls":[156],"degree":[158],"forward":[160],"lean":[161],"virtual":[164],"octagon.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}