{"id":"https://openalex.org/W2775410230","doi":"https://doi.org/10.1109/iros.2017.8206098","title":"Variable topology truss: Design and analysis","display_name":"Variable topology truss: Design and analysis","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775410230","doi":"https://doi.org/10.1109/iros.2017.8206098","mag":"2775410230"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206098","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":"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/A5077678072","display_name":"Alexander Spinos","orcid":"https://orcid.org/0000-0002-3869-6483"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Spinos","raw_affiliation_strings":["Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022453247","display_name":"Devin Carroll","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Devin Carroll","raw_affiliation_strings":["Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080497758","display_name":"Terry Kientz","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Terry Kientz","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2717","last_page":"2722"},"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":0.9836000204086304,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9757000207901001,"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/truss","display_name":"Truss","score":0.8981455564498901},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.7161809802055359},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.7049436569213867},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.6230796575546265},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5667099356651306},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.509316086769104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47697266936302185},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4387706518173218},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2992705702781677},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2876269221305847},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1435421109199524},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12230786681175232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10814762115478516},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.07490342855453491},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0583249032497406}],"concepts":[{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.8981455564498901},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.7161809802055359},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.7049436569213867},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.6230796575546265},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5667099356651306},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.509316086769104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47697266936302185},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4387706518173218},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2992705702781677},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2876269221305847},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1435421109199524},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12230786681175232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10814762115478516},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.07490342855453491},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0583249032497406},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206098","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W15263447","https://openalex.org/W170715666","https://openalex.org/W1539718337","https://openalex.org/W1721298138","https://openalex.org/W1982700170","https://openalex.org/W2009317549","https://openalex.org/W2047234459","https://openalex.org/W2101392651","https://openalex.org/W2150280884","https://openalex.org/W2416789059","https://openalex.org/W2743722480","https://openalex.org/W2758746907","https://openalex.org/W4251345737"],"related_works":["https://openalex.org/W3138992299","https://openalex.org/W2008431527","https://openalex.org/W2139718781","https://openalex.org/W1591147321","https://openalex.org/W3111154534","https://openalex.org/W2112142644","https://openalex.org/W2093405427","https://openalex.org/W2164256131","https://openalex.org/W1996537231","https://openalex.org/W2378294298"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,68],"new":[4,57],"class":[5,18],"of":[6,19,37,55,59,67],"self-reconfigurable":[7],"robot:":[8],"the":[9,21,30,35,38,51,65,73],"variable":[10,22,26],"topology":[11,27,36,69],"truss":[12,24,39],"(VTT).":[13],"Related":[14],"to":[15,33,45],"an":[16],"existing":[17],"robots,":[20],"geometry":[23],"(VGT),":[25],"trusses":[28],"have":[29],"additional":[31],"capability":[32],"change":[34],"through":[40],"self-reconfiguration.":[41],"The":[42],"hardware":[43],"necessary":[44],"achieve":[46],"this":[47,56],"is":[48],"introduced,":[49],"and":[50,53,83],"constraints":[52],"capabilities":[54],"type":[58],"robot":[60],"are":[61,81,87],"analyzed":[62],"by":[63],"introducing":[64],"concept":[66],"neighbor":[70],"graph.":[71],"Lastly,":[72],"minimal":[74],"reconfigurable":[75],"VTTs,":[76],"which":[77],"require":[78],"18":[79],"members,":[80],"identified":[82],"their":[84],"achievable":[85],"topologies":[86],"enumerated.":[88]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
