{"id":"https://openalex.org/W2031938550","doi":"https://doi.org/10.1109/iros.2012.6385810","title":"Locomotion with continuum limbs","display_name":"Locomotion with continuum limbs","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2031938550","doi":"https://doi.org/10.1109/iros.2012.6385810","mag":"2031938550"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385810","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":"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/A5026038506","display_name":"Isuru S. Godage","orcid":"https://orcid.org/0000-0001-6112-0813"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Isuru S. Godage","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060656142","display_name":"Thrishantha Nanayakkara","orcid":"https://orcid.org/0000-0002-1882-1232"},"institutions":[{"id":"https://openalex.org/I124357947","display_name":"University of London","ror":"https://ror.org/04cw6st05","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thrishantha Nanayakkara","raw_affiliation_strings":["Division of Engineering, King's College University of London, London, UK","Division of Engineering, King's College, University of London Strand, WC2R 2LS, UK"],"affiliations":[{"raw_affiliation_string":"Division of Engineering, King's College University of London, London, UK","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I124357947"]},{"raw_affiliation_string":"Division of Engineering, King's College, University of London Strand, WC2R 2LS, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Department of Advanced Robotics, Via Morego 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026038506"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":4.034,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.93749679,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"293","last_page":"298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.996999979019165,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/crawling","display_name":"Crawling","score":0.9182175993919373},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8236035704612732},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6416068077087402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.623384952545166},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.6002066731452942},{"id":"https://openalex.org/keywords/terrestrial-locomotion","display_name":"Terrestrial locomotion","score":0.5965827703475952},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5564428567886353},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4893011748790741},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4360651969909668},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34303349256515503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28232431411743164},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2501494288444519},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23174747824668884},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18120306730270386},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.17508941888809204},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14047089219093323}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9182175993919373},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8236035704612732},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6416068077087402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.623384952545166},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.6002066731452942},{"id":"https://openalex.org/C532751654","wikidata":"https://www.wikidata.org/wiki/Q2535935","display_name":"Terrestrial locomotion","level":2,"score":0.5965827703475952},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5564428567886353},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4893011748790741},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4360651969909668},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34303349256515503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28232431411743164},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2501494288444519},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23174747824668884},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18120306730270386},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.17508941888809204},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14047089219093323},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385810","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"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/abee26d2-4daf-40fc-91ac-18df4e5a19d6","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/abee26d2-4daf-40fc-91ac-18df4e5a19d6","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Godage, I, Nanayakkara, T & Caldwell, D G 2012, Locomotion with Continuum Limbs. in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ, pp. 293-298. https://doi.org/10.1109/IROS.2012.6385810","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4639149755","display_name":null,"funder_award_id":"EP/I028773/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1539526534","https://openalex.org/W1968531008","https://openalex.org/W2024931364","https://openalex.org/W2045884626","https://openalex.org/W2049460350","https://openalex.org/W2057371225","https://openalex.org/W2067243719","https://openalex.org/W2070122598","https://openalex.org/W2096645690","https://openalex.org/W2103185242","https://openalex.org/W2110456066","https://openalex.org/W2124540383","https://openalex.org/W2127981366","https://openalex.org/W2132381711","https://openalex.org/W2139114957","https://openalex.org/W2150317946","https://openalex.org/W2160229137","https://openalex.org/W2161409436","https://openalex.org/W2241606133","https://openalex.org/W3145809569","https://openalex.org/W6656745788","https://openalex.org/W6676795839","https://openalex.org/W6690315588"],"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":{"This":[0],"paper":[1],"presents":[2],"the":[3,67,72,89],"kinematics,":[4],"dynamics,":[5],"and":[6,49,69,110,117,121,136],"experimental":[7],"results":[8,125],"for":[9,26,71,141],"a":[10,23,38,56,84,95,108,115],"novel":[11],"quadruped":[12,74,87],"robot":[13],"using":[14],"continuum":[15,20,86,132],"limbs.":[16],"We":[17],"propose":[18],"soft":[19,131],"limbs":[21,133],"as":[22,55,102],"new":[24],"paradigm":[25],"robotic":[27],"locomotion":[28,42,129],"in":[29,138],"unstructured":[30,139],"environments":[31,140],"due":[32],"to":[33,36,51,65,91],"their":[34],"potential":[35],"generate":[37],"wide":[39],"array":[40],"of":[41,58,143],"behaviors":[43],"ranging":[44],"from":[45,94,107],"walking,":[46],"trotting,":[47],"crawling,":[48],"propelling":[50],"whole":[52],"arm":[53],"grasping":[54],"means":[57],"negotiating":[59],"difficult":[60],"obstacles.":[61],"A":[62],"straightforward":[63],"method":[64],"derive":[66],"kinematics":[68],"dynamics":[70],"proposed":[73],"has":[75],"been":[76],"demonstrated":[77],"through":[78],"numerical":[79],"simulations.":[80],"Initial":[81],"experiments":[82],"on":[83,119],"prototype":[85],"demonstrate":[88],"ability":[90],"stand":[92],"up":[93],"flat-belly":[96],"stance,":[97],"absorb":[98],"external":[99],"disturbances":[100],"such":[101],"maintaining":[103],"stability":[104],"after":[105,111],"dropping":[106],"height":[109],"being":[112],"perturbed":[113],"by":[114],"collision,":[116],"crawling":[118],"flat":[120],"cluttered":[122],"environments.":[123],"Experiment":[124],"provide":[126],"evidence":[127],"that":[128],"with":[130],"are":[134],"feasible":[135],"usable":[137],"variety":[142],"applications.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}