{"id":"https://openalex.org/W2080788834","doi":"https://doi.org/10.1109/iros.2010.5649958","title":"A cuboctahedron module for a reconfigurable robot","display_name":"A cuboctahedron module for a reconfigurable robot","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2080788834","doi":"https://doi.org/10.1109/iros.2010.5649958","mag":"2080788834"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5100653614","display_name":"Shuguang Li","orcid":"https://orcid.org/0000-0002-0856-9715"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Shuguang Li","raw_affiliation_strings":["Cornell University, Ithaca, NY, USA","Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110776183","display_name":"Jianping Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianping Yuan","raw_affiliation_strings":["Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054279688","display_name":"Franz Nigl","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Franz Nigl","raw_affiliation_strings":["Cornell Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Cornell Computational Synthesis Laboratory, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025894735","display_name":"Hod Lipson","orcid":"https://orcid.org/0000-0003-0769-4618"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hod Lipson","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100653614"],"corresponding_institution_ids":["https://openalex.org/I17145004","https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.5497,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.72890563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"535","last_page":"541"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9878000020980835,"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":0.9821000099182129,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8940631151199341},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.8439958095550537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7637576460838318},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6353386640548706},{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.5992270708084106},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.49336305260658264},{"id":"https://openalex.org/keywords/lattice","display_name":"Lattice (music)","score":0.4829349219799042},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3517967462539673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.321804404258728},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2535046339035034},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23549431562423706},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15691646933555603},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.14886370301246643},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11144861578941345},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1055002510547638},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09053701162338257},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06993833184242249}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8940631151199341},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.8439958095550537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7637576460838318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6353386640548706},{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.5992270708084106},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49336305260658264},{"id":"https://openalex.org/C2781204021","wikidata":"https://www.wikidata.org/wiki/Q6497091","display_name":"Lattice (music)","level":2,"score":0.4829349219799042},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3517967462539673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.321804404258728},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2535046339035034},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23549431562423706},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15691646933555603},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.14886370301246643},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11144861578941345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1055002510547638},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09053701162338257},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06993833184242249},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5649958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W106550765","https://openalex.org/W1980508363","https://openalex.org/W2009796996","https://openalex.org/W2080509217","https://openalex.org/W2096537964","https://openalex.org/W2101392651","https://openalex.org/W2103154486","https://openalex.org/W2104972052","https://openalex.org/W2110474838","https://openalex.org/W2113285099","https://openalex.org/W2117042951","https://openalex.org/W2124196154","https://openalex.org/W2124599979","https://openalex.org/W2127197749","https://openalex.org/W2133667391","https://openalex.org/W2134945406","https://openalex.org/W2138087610","https://openalex.org/W2138321920","https://openalex.org/W2139699368","https://openalex.org/W2139841931","https://openalex.org/W2141202025","https://openalex.org/W2146582193","https://openalex.org/W2149841830","https://openalex.org/W2153340253","https://openalex.org/W2163883769","https://openalex.org/W2164380970","https://openalex.org/W4233666016","https://openalex.org/W4255874654","https://openalex.org/W6604250625","https://openalex.org/W6676234644","https://openalex.org/W6676982391","https://openalex.org/W6677640547","https://openalex.org/W6680200303"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,5,9,14,77,89],"concept":[3],"for":[4,67],"modular":[6,18,42,90],"robot":[7],"with":[8,46,80],"quasi-regular":[10],"polyhedron":[11],"based":[12],"on":[13],"cuboctahedron":[15,58],"element.":[16],"Lattice-type":[17],"robots":[19,43],"can":[20],"adapt":[21],"their":[22],"morphology":[23,86],"by":[24],"reconfiguring":[25],"to":[26,83],"various":[27,69],"shapes.":[28],"While":[29],"regular":[30,50],"polyhedrons":[31],"provide":[32],"the":[33,68,85],"bases":[34],"of":[35,57,87],"many":[36],"promising":[37],"3D":[38],"lattice":[39],"elements,":[40],"few":[41],"have":[44],"shapes":[45],"more":[47],"than":[48],"six":[49],"faces.":[51],"The":[52],"conceptual":[53],"design":[54],"and":[55],"prototypes":[56],"elements":[59],"are":[60],"presented":[61],"in":[62],"this":[63],"paper.":[64],"To":[65],"account":[66],"connecting":[70],"configurations":[71],"between":[72],"robotic":[73,91],"modules,":[74],"we":[75],"propose":[76],"directed":[78],"graph":[79],"three":[81],"parameters":[82],"represent":[84],"such":[88],"system.":[92]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}