{"id":"https://openalex.org/W2750739643","doi":"https://doi.org/10.1109/iros.2017.8206095","title":"Towards autonomous locomotion: Slithering gait design of a snake-like robot for target observation and tracking","display_name":"Towards autonomous locomotion: Slithering gait design of a snake-like robot for target observation and tracking","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2750739643","doi":"https://doi.org/10.1109/iros.2017.8206095","mag":"2750739643"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206095","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1380312","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["Department of Informatics, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022496550","display_name":"Long Cheng","orcid":"https://orcid.org/0000-0002-9993-0077"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["Department of Informatics, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100768452","display_name":"Kai Huang","orcid":"https://orcid.org/0000-0003-0359-7810"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Huang","raw_affiliation_strings":["Sun Yat-Sen University"],"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024209745","display_name":"Zhuangyi Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhuangyi Jiang","raw_affiliation_strings":["Department of Informatics, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323037","display_name":"Guang Chen","orcid":"https://orcid.org/0000-0002-7416-592X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Guang Chen","raw_affiliation_strings":["Department of Informatics, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047626282","display_name":"Florian R\u00f6hrbein","orcid":"https://orcid.org/0000-0002-4709-2673"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Rohrbein","raw_affiliation_strings":["Department of Informatics, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Department of Informatics, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5060444894"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.5249,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.64908909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2698","last_page":"2703"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9979000091552734,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/gait","display_name":"Gait","score":0.714492678642273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6791213154792786},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5601720809936523},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.523129403591156},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49265772104263306},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48523974418640137},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.44416919350624084},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4351193904876709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43437671661376953},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41884246468544006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39383846521377563},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.12645387649536133},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09910467267036438},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05989047884941101},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.057985544204711914}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.714492678642273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6791213154792786},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5601720809936523},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.523129403591156},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49265772104263306},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48523974418640137},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.44416919350624084},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4351193904876709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43437671661376953},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41884246468544006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39383846521377563},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.12645387649536133},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09910467267036438},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05989047884941101},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.057985544204711914},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206095","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1380312","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1380312","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1380312","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1380312","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321160","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W1582843692","https://openalex.org/W1970890205","https://openalex.org/W1984797656","https://openalex.org/W2013385611","https://openalex.org/W2017533233","https://openalex.org/W2021773072","https://openalex.org/W2057699393","https://openalex.org/W2067477688","https://openalex.org/W2084501856","https://openalex.org/W2090559989","https://openalex.org/W2099210720","https://openalex.org/W2104114185","https://openalex.org/W2121458485","https://openalex.org/W2134753324","https://openalex.org/W2143660196","https://openalex.org/W2231780113","https://openalex.org/W2292979104","https://openalex.org/W2530907443","https://openalex.org/W4234535400","https://openalex.org/W6728216324"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,10,35,64],"biologically":[4],"inspired":[5],"3D":[6],"slithering":[7,37,59,66,137],"gait":[8,38,60,74,138],"for":[9,17,52],"snake-like":[11],"robot":[12,44],"is":[13,39,61,76],"designed":[14],"and":[15,29,49,73,124,133],"implemented":[16],"the":[18,26,30,33,43,53,57,79,84,90,94,105,110,113,118,131,136],"purpose":[19,54],"of":[20,32,55,93,112,135],"target":[21,121],"tracking.":[22],"First,":[23],"by":[24,78],"balancing":[25],"forward":[27],"speed":[28],"stability":[31],"robot,":[34],"straight":[36,58],"modelled,":[40],"under":[41],"which":[42],"can":[45],"march":[46],"straight,":[47],"fast,":[48],"stably.":[50],"Then,":[51],"steering,":[56],"modified":[62],"into":[63],"biased":[65],"gait.":[67],"The":[68],"relationship":[69],"between":[70],"turning":[71],"radius":[72],"parameters":[75],"analyzed":[77],"resistive":[80],"force":[81],"theory.":[82],"With":[83],"head":[85,97,119],"composition":[86],"algorithm,":[87],"we":[88],"investigate":[89],"orientation":[91],"problem":[92],"snake":[95],"robot's":[96],"module":[98],"to":[99,129],"obtain":[100],"stable":[101],"visual":[102],"information":[103],"during":[104],"locomotion":[106,141],"process.":[107],"Finally,":[108],"with":[109],"guidance":[111],"vision":[114],"sensor":[115],"mounted":[116],"in":[117,139],"module,":[120],"tracking":[122],"simulations":[123],"prototype":[125],"experiments":[126],"are":[127],"conducted":[128],"demonstrate":[130],"practicality":[132],"effectiveness":[134],"autonomous":[140],"scenarios.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}