{"id":"https://openalex.org/W1976232654","doi":"https://doi.org/10.1109/iros.2010.5652118","title":"Steering of pedal wave of a snake-like robot by superposition of curvatures","display_name":"Steering of pedal wave of a snake-like robot by superposition of curvatures","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1976232654","doi":"https://doi.org/10.1109/iros.2010.5652118","mag":"1976232654"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5652118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652118","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/A5110756970","display_name":"Hiroya Yamada","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hiroya Yamada","raw_affiliation_strings":["Global Edge Institute, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Global Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Japan"],"affiliations":[{"raw_affiliation_string":"Global Edge Institute, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Global Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110756970"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":2.1989,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.86267835,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"419","last_page":"424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9991000294685364,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9948999881744385,"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/superposition-principle","display_name":"Superposition principle","score":0.8170803785324097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.697551965713501},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.62339186668396},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6119863390922546},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5299746990203857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4555680453777313},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37892112135887146},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36713868379592896},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.34426409006118774},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3372533917427063},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2999289631843567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27494016289711},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24318423867225647},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15960484743118286},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14211022853851318}],"concepts":[{"id":"https://openalex.org/C27753989","wikidata":"https://www.wikidata.org/wiki/Q284885","display_name":"Superposition principle","level":2,"score":0.8170803785324097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.697551965713501},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.62339186668396},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6119863390922546},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5299746990203857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4555680453777313},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37892112135887146},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36713868379592896},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.34426409006118774},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3372533917427063},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2999289631843567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27494016289711},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24318423867225647},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15960484743118286},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14211022853851318},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5652118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5652118","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":16,"referenced_works":["https://openalex.org/W181237337","https://openalex.org/W1969023123","https://openalex.org/W2061301711","https://openalex.org/W2097235959","https://openalex.org/W2121691155","https://openalex.org/W2137670317","https://openalex.org/W2140516362","https://openalex.org/W2140789655","https://openalex.org/W2143660196","https://openalex.org/W2325659056","https://openalex.org/W2467667794","https://openalex.org/W2510720489","https://openalex.org/W2798273904","https://openalex.org/W3149640912","https://openalex.org/W6665448728","https://openalex.org/W6750969001"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W1671433536"],"abstract_inverted_index":{"A":[0],"snake-like":[1,78,117],"robot":[2,55,79],"has":[3,56],"an":[4],"advantage":[5],"in":[6,39,62],"moving":[7],"into":[8],"a":[9,26,53,67,76,87,91,115],"narrow":[10],"space.":[11],"Particularly":[12],"\u201cpedal":[13],"wave\u201d,":[14],"which":[15],"is":[16,22],"one":[17],"of":[18,41,49,72,86,99],"its":[19],"locomotion":[20],"styles,":[21],"suitable":[23,100],"for":[24,36],"entering":[25],"thin":[27],"path.":[28],"However,":[29],"pedal":[30,50,73,92],"wave":[31,51,74],"have":[32],"been":[33,58],"used":[34],"only":[35],"going":[37],"straight":[38],"most":[40],"the":[42,97],"prior":[43],"studies.":[44],"In":[45],"particular":[46],"horizontal":[47],"steering":[48,70,83,88,101,108],"by":[52,84,112],"real":[54,116],"not":[57],"investigated":[59,96],"sufficiently.":[60],"Therefore":[61],"this":[63],"paper":[64],"we":[65],"studied":[66],"kinematically":[68],"appropriate":[69],"method":[71,109],"using":[75,103],"continuous":[77],"model.":[80],"We":[81],"proposed":[82,107],"superposition":[85],"curvatures":[89],"and":[90,95],"wave's":[93],"curvature,":[94],"condition":[98],"curvature":[102],"kinematic":[104],"simulations.":[105],"The":[106],"was":[110],"verified":[111],"experiments":[113],"with":[114],"robot.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
