{"id":"https://openalex.org/W2085107783","doi":"https://doi.org/10.1109/iros.2012.6385679","title":"Energy analysis of worm locomotion on flexible surface","display_name":"Energy analysis of worm locomotion on flexible surface","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2085107783","doi":"https://doi.org/10.1109/iros.2012.6385679","mag":"2085107783"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5044132080","display_name":"David Zarrouk","orcid":"https://orcid.org/0000-0003-3106-1861"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Zarrouk","raw_affiliation_strings":["EECS Department, UC Berkeley, USA","EECS Dept, UC Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS Department, UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"EECS Dept, UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013539978","display_name":"Inna Sharf","orcid":"https://orcid.org/0000-0001-5027-3646"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Inna Sharf","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, Canada","(Department of Mechanical Engineering, McGill University, Montreal, Canada)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"(Department of Mechanical Engineering, McGill University, Montreal, Canada)","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110288291","display_name":"Moshe Shoham","orcid":null},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Moshe Shoham","raw_affiliation_strings":["Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, Israel","Faculty of Mechanical Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":null,"first_page":"2915","last_page":"2921"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"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":0.9919000267982483,"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":0.9545775651931763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7681562304496765},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6584914922714233},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.6219851970672607},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.6114859580993652},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5846660733222961},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.5750511884689331},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5477121472358704},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.5016114711761475},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49013814330101013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4836529493331909},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4236093759536743},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4157661199569702},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3330668807029724},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32881754636764526},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3029037415981293},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2823697328567505},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17692840099334717},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16138899326324463},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15934216976165771},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.15427294373512268},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13000017404556274},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09810006618499756}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9545775651931763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7681562304496765},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6584914922714233},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.6219851970672607},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.6114859580993652},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5846660733222961},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.5750511884689331},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5477121472358704},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.5016114711761475},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49013814330101013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4836529493331909},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4236093759536743},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4157661199569702},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3330668807029724},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32881754636764526},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3029037415981293},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2823697328567505},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17692840099334717},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16138899326324463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15934216976165771},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.15427294373512268},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13000017404556274},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09810006618499756},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1592587259","https://openalex.org/W1978540956","https://openalex.org/W1978669295","https://openalex.org/W2006097298","https://openalex.org/W2039968206","https://openalex.org/W2070838175","https://openalex.org/W2073151378","https://openalex.org/W2079635050","https://openalex.org/W2096541901","https://openalex.org/W2099137795","https://openalex.org/W2101044015","https://openalex.org/W2101890444","https://openalex.org/W2117926783","https://openalex.org/W2123296641","https://openalex.org/W2138299709","https://openalex.org/W2151148670","https://openalex.org/W2157564578","https://openalex.org/W2164788924","https://openalex.org/W2353819616","https://openalex.org/W3140420801"],"related_works":["https://openalex.org/W1573749876","https://openalex.org/W2942196653","https://openalex.org/W1972877171","https://openalex.org/W797082247","https://openalex.org/W2188053476","https://openalex.org/W2599193808","https://openalex.org/W92979448","https://openalex.org/W2169712669","https://openalex.org/W2557423663","https://openalex.org/W2602319589"],"abstract_inverted_index":{"Recent":[0],"attempts":[1],"at":[2],"designing":[3],"untethered":[4],"devices":[5],"for":[6,15,18,83],"locomotion":[7,85,97],"inside":[8,21],"compliant":[9],"biological":[10],"vessels,":[11],"highlighted":[12],"the":[13,30,42,45,48,56,60,65,76,93,102,133,136,144,155,158,163],"requirements":[14,82],"energy":[16,79,110,122,146],"efficiency":[17],"prolonged":[19],"duration":[20],"living":[22],"bodies.":[23],"Quite":[24],"a":[25,99],"number":[26,103],"of":[27,34,68,96,101,104],"studies":[28],"considered":[29],"design":[31],"and":[32,47,80,113,123,139,151,157,180],"construction":[33],"crawling":[35,176],"robots":[36,46,175],"but":[37],"very":[38],"few":[39],"focused":[40],"on":[41],"interaction":[43],"between":[44],"flexible":[49,87,178],"environment.":[50],"In":[51,71],"previous":[52],"studies,":[53],"we":[54,74,91],"derived":[55],"efficiency,":[57],"defined":[58,118],"as":[59,98],"actual":[61],"advance":[62],"divided":[63],"by":[64,131,141,162],"optimal":[66],"advance,":[67],"worm":[69,84,174],"locomotion.":[70],"this":[72],"paper,":[73],"analyze":[75],"force,":[77],"minimum":[78],"power":[81,124],"over":[86,135,177],"surfaces.":[88],"More":[89],"importantly,":[90],"determine":[92],"optimum":[94],"conditions":[95],"function":[100],"cells,":[105],"friction":[106,150],"coefficients,":[107],"stroke":[108],"length,":[109],"recovery":[111],"factor,":[112],"tangential":[114],"compliance.":[115],"Optimality":[116],"is":[117],"with":[119,154],"respect":[120],"to":[121,149,170],"requirements.":[125],"The":[126,165],"analytical":[127],"results":[128],"are":[129,168,181],"obtained":[130],"integrating":[132],"force":[134],"actuator":[137],"motion":[138],"alternatively":[140],"summing":[142],"up":[143],"overall":[145],"losses":[147,153],"due":[148],"elastic":[152],"surface":[156],"efficient":[159],"work":[160],"performed":[161],"robot.":[164],"theoretical":[166],"predictions":[167],"compared":[169],"numerical":[171],"simulations":[172],"modeling":[173],"surfaces":[179],"found":[182],"in":[183],"perfect":[184],"match.":[185]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
