{"id":"https://openalex.org/W2157848027","doi":"https://doi.org/10.1109/iros.2007.4399504","title":"Design and control of a second-generation hyper-redundant mechanism","display_name":"Design and control of a second-generation hyper-redundant mechanism","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2157848027","doi":"https://doi.org/10.1109/iros.2007.4399504","mag":"2157848027"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399504","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":"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/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. Ben Brown","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110859274","display_name":"Michael J. Schwerin","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":"Michael Schwerin","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","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":false,"raw_author_name":"E. Shammas","raw_affiliation_strings":["Mechanical Engineering Department, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Carnegie Mellon University, 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":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.3948,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.94638225,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2603","last_page":"2608"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9891999959945679,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9836000204086304,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/mechanism","display_name":"Mechanism (biology)","score":0.635258674621582},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6059151887893677},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48112407326698303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16145706176757812},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08345931768417358}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.635258674621582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6059151887893677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48112407326698303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16145706176757812},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08345931768417358},{"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.2007.4399504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399504","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.114.4525","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.114.4525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~biorobotics/papers/IROS07_Brown_Woodstock_1129.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1486235130","https://openalex.org/W1573670163","https://openalex.org/W1582353822","https://openalex.org/W1836215632","https://openalex.org/W2014502771","https://openalex.org/W2067243719","https://openalex.org/W2100058787","https://openalex.org/W2111793746","https://openalex.org/W2122398245","https://openalex.org/W2137670317","https://openalex.org/W2161409436","https://openalex.org/W2246023205"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382997850"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,10,49,71,94,120,124],"refined,":[3],"second-generation":[4],"design,":[5],"construction":[6],"and":[7,32,59,111,127],"integration,":[8],"of":[9,30,38,52,76],"compact":[11],"hyper-redundant":[12],"snakelike":[13],"robot,":[14],"called":[15],"\"Woodstock.\"":[16],"This":[17,81],"robot":[18,35,55,65],"has":[19],"substantial":[20],"advantages":[21],"over":[22,131],"our":[23],"previous":[24],"design":[25],"iteration,":[26],"\"Snoopy,\"":[27],"in":[28,63],"terms":[29],"cost":[31],"performance.":[33],"The":[34,115],"is":[36,66,74,91,117],"composed":[37],"six":[39],"actuated":[40],"universal":[41],"joints":[42],"which":[43,90],"are":[44],"serially":[45],"chained":[46],"to":[47,69,104],"construct":[48],"twelve":[50],"degrees":[51],"freedom":[53],"snake-like":[54],"optimized":[56],"for":[57],"strength":[58],"compactness.":[60],"Any":[61],"joint":[62],"the":[64,78,85,101,132],"strong":[67],"enough":[68],"produce":[70],"torque":[72],"that":[73],"capable":[75],"cantilevering":[77],"entire":[79,102],"robot.":[80],"paper":[82],"also":[83,129],"presents":[84],"low-level":[86],"system-":[87],"control":[88],"architecture,":[89],"based":[92],"on":[93,123],"high-speed":[95],"RS-485":[96],"data":[97,113],"bus;":[98],"this":[99],"allows":[100],"system":[103,116],"be":[105],"operated":[106],"with":[107],"only":[108],"two":[109,112],"power":[110],"wires.":[114],"controlled":[118],"from":[119],"remote":[121],"computer":[122],"wireless":[125],"network":[126],"can":[128],"run":[130],"Internet.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
