{"id":"https://openalex.org/W2155357951","doi":"https://doi.org/10.1109/iros.2003.1249713","title":"New joint design for three-dimensional hyper redundant robots","display_name":"New joint design for three-dimensional hyper redundant robots","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W2155357951","doi":"https://doi.org/10.1109/iros.2003.1249713","mag":"2155357951"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5049264238","display_name":"Elie Shammas","orcid":"https://orcid.org/0000-0002-3604-334X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"E. Shammas","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018506967","display_name":"Alon Wolf","orcid":"https://orcid.org/0000-0002-4595-0240"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Wolf","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111652000","display_name":"H.B. Brown","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H.B. Brown","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Choset","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049264238"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.3419,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.93985419,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"3594","last_page":"3599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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":0.9997000098228455,"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/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/T10868","display_name":"Soft Robotics and Applications","score":0.998199999332428,"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/joint","display_name":"Joint (building)","score":0.7489251494407654},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.746910810470581},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6667165756225586},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6543927788734436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6196245551109314},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5270566940307617},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5084437727928162},{"id":"https://openalex.org/keywords/compact-space","display_name":"Compact space","score":0.4709808826446533},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.44416165351867676},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44298097491264343},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4284120500087738},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3519290089607239},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32296544313430786},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2673962116241455},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26728543639183044},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21092849969863892},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14473822712898254},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09323754906654358},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07264310121536255},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07127052545547485},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06444886326789856}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7489251494407654},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.746910810470581},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6667165756225586},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6543927788734436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6196245551109314},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5270566940307617},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5084437727928162},{"id":"https://openalex.org/C18648836","wikidata":"https://www.wikidata.org/wiki/Q381892","display_name":"Compact space","level":2,"score":0.4709808826446533},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44416165351867676},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44298097491264343},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4284120500087738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3519290089607239},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32296544313430786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2673962116241455},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26728543639183044},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21092849969863892},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14473822712898254},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09323754906654358},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07264310121536255},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07127052545547485},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06444886326789856},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2003.1249713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.3.8659","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.3.8659","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://voronoi.sbp.ri.cmu.edu/papers/iros03_elie_howie.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1486235130","https://openalex.org/W1566800662","https://openalex.org/W1573670163","https://openalex.org/W1842043605","https://openalex.org/W1977370696","https://openalex.org/W1979197480","https://openalex.org/W1980039387","https://openalex.org/W2100058787","https://openalex.org/W2122398245","https://openalex.org/W2137670317","https://openalex.org/W2162325662","https://openalex.org/W2745516980","https://openalex.org/W2837576288","https://openalex.org/W6634096568","https://openalex.org/W6644900664","https://openalex.org/W7033626736"],"related_works":["https://openalex.org/W3016354044","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W2005471069","https://openalex.org/W4312096302","https://openalex.org/W2101598871","https://openalex.org/W2109573574"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8],"novel":[4],"compact":[5],"design":[6],"for":[7,20,31],"two":[9],"degrees":[10],"of":[11,25,53,74],"freedom":[12],"(DOF)":[13],"joint":[14,17,46,61],"mechanism.":[15],"The":[16],"is":[18],"optimized":[19],"compactness,":[21],"strength":[22],"and":[23,42,64,66,76],"range":[24,73],"motion":[26,75],"which":[27],"makes":[28],"it":[29],"ideal":[30],"constructing":[32],"spatial":[33],"or":[34],"three-dimensional":[35],"hyper":[36],"redundant":[37],"robots.":[38],"We":[39],"also":[40],"identify":[41],"classify":[43],"various":[44],"prior":[45],"designs":[47],"that":[48],"led":[49],"to":[50,69],"the":[51,60,71],"development":[52],"this":[54],"new":[55],"concept.":[56],"Finally,":[57],"we":[58],"present":[59],"forward":[62],"kinematics,":[63],"force":[65],"torque":[67],"calculations":[68],"verify":[70],"joint's":[72],"mechanical":[77],"advantage.":[78]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}
