{"id":"https://openalex.org/W2114104979","doi":"https://doi.org/10.1109/iros.2007.4399635","title":"Adaptive locomotion of a snake like robot based on curvature derivatives","display_name":"Adaptive locomotion of a snake like robot based on curvature derivatives","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2114104979","doi":"https://doi.org/10.1109/iros.2007.4399635","mag":"2114104979"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399635","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/A5030262835","display_name":"Hisashi DATE","orcid":"https://orcid.org/0000-0002-7103-7025"},"institutions":[{"id":"https://openalex.org/I443798","display_name":"National Defense Academy of Japan","ror":"https://ror.org/05xszy717","country_code":"JP","type":"education","lineage":["https://openalex.org/I443798"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hisashi Date","raw_affiliation_strings":["Department of Computer Science, National Defense Academy of Japan, Yokosuka, Japan","Nat. Defense Acad. of Japan, Yokosuka"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, National Defense Academy of Japan, Yokosuka, Japan","institution_ids":["https://openalex.org/I443798"]},{"raw_affiliation_string":"Nat. Defense Acad. of Japan, Yokosuka","institution_ids":["https://openalex.org/I443798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073209899","display_name":"Yoshihiro Takita","orcid":null},"institutions":[{"id":"https://openalex.org/I443798","display_name":"National Defense Academy of Japan","ror":"https://ror.org/05xszy717","country_code":"JP","type":"education","lineage":["https://openalex.org/I443798"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiro Takita","raw_affiliation_strings":["Department of Computer Science, National Defense Academy of Japan, Yokosuka, Japan","Nat. Defense Acad. of Japan, Yokosuka"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, National Defense Academy of Japan, Yokosuka, Japan","institution_ids":["https://openalex.org/I443798"]},{"raw_affiliation_string":"Nat. Defense Acad. of Japan, Yokosuka","institution_ids":["https://openalex.org/I443798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5030262835"],"corresponding_institution_ids":["https://openalex.org/I443798"],"apc_list":null,"apc_paid":null,"fwci":1.617,"has_fulltext":false,"cited_by_count":81,"citation_normalized_percentile":{"value":0.83935358,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3554","last_page":"3559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944999814033508,"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":0.9937000274658203,"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/robot-locomotion","display_name":"Robot locomotion","score":0.7636003494262695},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7523947358131409},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.7516908645629883},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6928502321243286},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6690492033958435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5620128512382507},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5171270370483398},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4017886519432068},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39247098565101624},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3846089541912079},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37048694491386414},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28443020582199097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2791985869407654},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.22365596890449524},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18471434712409973},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18264424800872803},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.174595445394516},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13684722781181335},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0989527702331543},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06645908951759338},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.06054070591926575}],"concepts":[{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.7636003494262695},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7523947358131409},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.7516908645629883},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6928502321243286},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6690492033958435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5620128512382507},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5171270370483398},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4017886519432068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39247098565101624},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3846089541912079},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37048694491386414},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28443020582199097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2791985869407654},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.22365596890449524},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18471434712409973},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18264424800872803},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.174595445394516},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13684722781181335},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0989527702331543},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06645908951759338},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.06054070591926575},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399635","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/15","display_name":"Life in Land","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W198676126","https://openalex.org/W1483671126","https://openalex.org/W2056881716","https://openalex.org/W2189380937"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W845789065","https://openalex.org/W2039606477","https://openalex.org/W2361542615","https://openalex.org/W585312555","https://openalex.org/W2055370323","https://openalex.org/W2052447287","https://openalex.org/W2088250263","https://openalex.org/W4387103257","https://openalex.org/W4242718759"],"abstract_inverted_index":{"This":[0,19],"paper":[1,38],"presents":[2],"locomotion":[3,22,51,98],"control":[4],"for":[5],"a":[6,53,105,114],"robotic":[7],"snake":[8,32],"that":[9,77],"adaptively":[10],"travels":[11],"over":[12],"rugged":[13],"terrain":[14],"using":[15,99],"obstacles":[16],"as":[17],"supports.":[18],"kind":[20],"of":[21,64,86,102],"can":[23],"typically":[24],"be":[25,72],"found":[26],"in":[27,29,36,43],"snakes":[28],"nature.":[30],"The":[31],"robot":[33],"dealt":[34],"with":[35],"this":[37,90],"has":[39,68],"an":[40],"articulated":[41],"structure":[42],"which":[44],"all":[45],"joints":[46],"are":[47],"actively":[48],"driven.":[49],"For":[50],"on":[52],"flat":[54],"terrain,":[55],"joint":[56],"torques":[57],"distributed":[58],"according":[59],"to":[60,71,97],"the":[61,65,75,87,92],"curvature":[62],"derivative":[63],"body":[66],"curve":[67],"been":[69],"proved":[70],"optimal":[73],"under":[74],"condition":[76],"there":[78],"is":[79,95],"no":[80],"lateral":[81],"slippage":[82],"at":[83],"every":[84],"part":[85],"body.":[88],"In":[89],"paper,":[91],"same":[93],"method":[94],"applied":[96],"two":[100],"kinds":[101],"environmental":[103],"supports;":[104],"narrow":[106],"corridor":[107],"surrounded":[108],"by":[109],"smoothly":[110],"curved":[111],"walls":[112],"and":[113],"peg.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":11}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}