{"id":"https://openalex.org/W2167089255","doi":"https://doi.org/10.1109/iros.2007.4398954","title":"Runtime reconfiguration of a modular mobile robot with serial and parallel mechanisms","display_name":"Runtime reconfiguration of a modular mobile robot with serial and parallel mechanisms","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2167089255","doi":"https://doi.org/10.1109/iros.2007.4398954","mag":"2167089255"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4398954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5100392958","display_name":"Haotian Zhang","orcid":"https://orcid.org/0000-0002-1461-0200"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. X. Zhang","raw_affiliation_strings":["Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051609178","display_name":"S.Y. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"S.Y. Chen","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","Dept of Informatics, University of Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"Dept of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058989702","display_name":"W. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"W. Wang","raw_affiliation_strings":["Robotic Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082172465","display_name":"J. W. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"J. W. Zhang","raw_affiliation_strings":["Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, Shenzhen, China","Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Technology Laboratory, Shenzhen Institute of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106695973","display_name":"Guanghua Zong","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"G. H. Zong","raw_affiliation_strings":["Robotic Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":null,"first_page":"2999","last_page":"3004"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9891999959945679,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9857000112533569,"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/control-reconfiguration","display_name":"Control reconfiguration","score":0.7777353525161743},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7497155070304871},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6842731237411499},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6432056427001953},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6245916485786438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6137218475341797},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5298599600791931},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4833616614341736},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4708043336868286},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4461376667022705},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.283581405878067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23143336176872253},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.11173084378242493}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.7777353525161743},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7497155070304871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6842731237411499},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6432056427001953},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6245916485786438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6137218475341797},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5298599600791931},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4833616614341736},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4708043336868286},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4461376667022705},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.283581405878067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23143336176872253},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.11173084378242493},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4398954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W79474483","https://openalex.org/W1543519602","https://openalex.org/W1844425230","https://openalex.org/W1943877163","https://openalex.org/W2045715219","https://openalex.org/W2054115913","https://openalex.org/W2110795172","https://openalex.org/W2120906125","https://openalex.org/W2123133133","https://openalex.org/W2126519404","https://openalex.org/W2139841931","https://openalex.org/W2156341129","https://openalex.org/W2179313173","https://openalex.org/W4285719527","https://openalex.org/W6676622751"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W2720417647","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W4225163935","https://openalex.org/W2064761790","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,92],"novel":[4],"field":[5],"robot":[6,20],"JL-I":[7],"based":[8],"on":[9],"reconfigurable":[11],"concept":[12],"for":[13,50],"urban":[14],"search":[15],"and":[16,47,53,68,75,100],"rescue":[17],"applications.":[18],"The":[19,57],"consists":[21],"of":[22,78,94],"three":[23],"identical":[24],"modules;":[25],"each":[26],"module":[27],"is":[28],"an":[29],"entire":[30],"robotic":[31],"system":[32],"that":[33],"can":[34],"perform":[35],"distributed":[36],"activities.":[37],"It":[38],"features":[39],"three-degrees-of-freedom":[40],"(DOF)":[41],"active":[42,81],"joints":[43],"actuated":[44],"by":[45],"serial":[46],"parallel":[48],"mechanisms":[49],"changing":[51],"shape":[52],"flexible":[54],"docking":[55,58],"mechanism.":[56],"mechanism":[59],"enables":[60],"adjacent":[61],"modules":[62,85],"to":[63],"connect":[64],"or":[65],"disconnect":[66],"flexibly":[67],"automatically.":[69],"DOF":[70],"analysis,":[71],"working":[72],"space":[73],"analysis":[74],"the":[76,79,90,98,101],"kinematics":[77],"3D":[80],"joint":[82],"between":[83],"connected":[84],"are":[86],"studied":[87],"thoroughly.":[88],"In":[89],"end":[91],"series":[93],"successful":[95],"tests":[96],"confirm":[97],"principles":[99],"robot's":[102],"capabilities.":[103]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
