{"id":"https://openalex.org/W2155247348","doi":"https://doi.org/10.1109/iros.2009.5354020","title":"Crawling Locomotion of Modular Climbing Caterpillar Robot with Changing Kinematic Chain","display_name":"Crawling Locomotion of Modular Climbing Caterpillar Robot with Changing Kinematic Chain","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2155247348","doi":"https://doi.org/10.1109/iros.2009.5354020","mag":"2155247348"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354020","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5091027422","display_name":"W. Wang","orcid":"https://orcid.org/0000-0002-5477-1893"},"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/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"W. Wang","raw_affiliation_strings":["Department of Informatics, University of Hamburg, Germany","Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Robotics 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/A5012349599","display_name":"Hualin 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"]}],"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":"last","author":{"id":"https://openalex.org/A5084309967","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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. W. 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"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7428,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.86082581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5021","last_page":"5026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"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":0.9991000294685364,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9771000146865845,"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/crawling","display_name":"Crawling","score":0.9535110592842102},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7916064262390137},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7464251518249512},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.677847146987915},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.6295012831687927},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5768911838531494},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5354910492897034},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5260541439056396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47266945242881775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4502890408039093},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40684887766838074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38132935762405396},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3607577681541443},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3433578610420227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28516077995300293},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13173452019691467},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10200893878936768},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10148876905441284},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07440030574798584}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9535110592842102},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7916064262390137},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7464251518249512},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.677847146987915},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.6295012831687927},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5768911838531494},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5354910492897034},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5260541439056396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47266945242881775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4502890408039093},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40684887766838074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38132935762405396},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3607577681541443},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3433578610420227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28516077995300293},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13173452019691467},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10200893878936768},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10148876905441284},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07440030574798584},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354020","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321125","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56"},{"id":"https://openalex.org/F4320323381","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2012223795","https://openalex.org/W2019199255","https://openalex.org/W2111332095","https://openalex.org/W2129016933","https://openalex.org/W2133585725","https://openalex.org/W2139611685","https://openalex.org/W2157723668","https://openalex.org/W2539813708","https://openalex.org/W4285719527","https://openalex.org/W6680795420","https://openalex.org/W6729002918","https://openalex.org/W7027530934"],"related_works":["https://openalex.org/W2942196653","https://openalex.org/W2998506550","https://openalex.org/W1972877171","https://openalex.org/W2188053476","https://openalex.org/W2169712669","https://openalex.org/W4390135167","https://openalex.org/W2599193808","https://openalex.org/W2321283884","https://openalex.org/W4289731088","https://openalex.org/W103329565"],"abstract_inverted_index":{"Based":[0],"on":[1,136],"the":[2,36,46,90,104,109,113,117],"modular":[3],"concept,":[4],"this":[5],"paper":[6],"presents":[7],"two":[8,16,74,122],"caterpillar":[9,68],"robot":[10,25,48,69,114],"prototypes":[11,123],"which":[12],"are":[13,124],"inspired":[14],"by":[15],"typical":[17],"caterpillars:":[18],"Inchworm":[19],"and":[20,30,128],"Pine":[21],"Caterpillar.":[22],"The":[23,78],"inchworm":[24,47,75],"prototype":[26],"features":[27,83],"simplest":[28],"kinematics":[29],"open":[31,93],"chain":[32,94,119],"architecture.":[33],"Due":[34],"to":[35,58,102,107],"fact":[37],"that":[38],"there":[39],"is":[40,70,100],"only":[41],"one":[42],"attachment":[43],"module":[44],"supporting":[45],"during":[49],"crawling,":[50],"we":[51],"apply":[52],"an":[53],"Unsymmetrical":[54],"Phase":[55],"Method":[56],"(UPM)":[57],"realize":[59],"a":[60,84,96],"stable":[61],"crawling":[62,79,110,130],"gait":[63,80],"for":[64],"it.":[65],"A":[66],"pine":[67],"derived":[71],"from":[72],"combining":[73],"robots":[76],"together.":[77],"of":[81],"it":[82],"repetitive":[85],"changing":[86],"chain:":[87],"Open-Closed-Open.":[88],"Besides":[89],"UPM":[91],"in":[92,116],"states,":[95],"four-links":[97],"kinematic":[98],"model":[99],"applied":[101],"control":[103],"corresponding":[105],"joints":[106],"transfer":[108],"wave":[111],"along":[112],"body":[115],"closed":[118],"state.":[120],"These":[121],"all":[125],"constructed":[126],"and,":[127],"their":[129],"locomotion":[131],"abilities":[132],"have":[133],"been":[134],"tested":[135],"vertical":[137],"glasses":[138],"respectively.":[139]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
