{"id":"https://openalex.org/W4389665461","doi":"https://doi.org/10.1109/iros55552.2023.10341447","title":"Locomotion Planning of a Truss Robot on Irregular Terrain","display_name":"Locomotion Planning of a Truss Robot on Irregular Terrain","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665461","doi":"https://doi.org/10.1109/iros55552.2023.10341447"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5067080124","display_name":"Jangho Bae","orcid":"https://orcid.org/0000-0002-3000-1165"},"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":"Jangho Bae","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039300538","display_name":"Inha Park","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inha Park","raw_affiliation_strings":["Hanyang University,Department of Mechanical Engineering,Seoul,Republic of Korea,04763"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Mechanical Engineering,Seoul,Republic of Korea,04763","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","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":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["Hanyang University,Department of Mechanical Engineering,Seoul,Republic of Korea,04763"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Mechanical Engineering,Seoul,Republic of Korea,04763","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4824,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60199634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"824","last_page":"829"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8166937828063965},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.7953529357910156},{"id":"https://openalex.org/keywords/truss","display_name":"Truss","score":0.7190719842910767},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6370998024940491},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.6325464248657227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6136583089828491},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5758670568466187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708187818527222},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4407021999359131},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4293704926967621},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4145951569080353},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3222059905529022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30189722776412964},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23922991752624512},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19984591007232666},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11589685082435608},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.0959312915802002}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8166937828063965},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.7953529357910156},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.7190719842910767},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6370998024940491},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.6325464248657227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6136583089828491},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5758670568466187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708187818527222},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4407021999359131},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4293704926967621},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4145951569080353},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3222059905529022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30189722776412964},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23922991752624512},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19984591007232666},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11589685082435608},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0959312915802002},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2242715308","display_name":null,"funder_award_id":"P0017306","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322064","display_name":"Korea Institute for Advancement of Technology","ror":"https://ror.org/015w1qa96"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1517802146","https://openalex.org/W1973791928","https://openalex.org/W2012752411","https://openalex.org/W2032139405","https://openalex.org/W2059242341","https://openalex.org/W2098759357","https://openalex.org/W2125035363","https://openalex.org/W2416789059","https://openalex.org/W2743722480","https://openalex.org/W2775588140","https://openalex.org/W2806690412","https://openalex.org/W2908607484","https://openalex.org/W2962743868","https://openalex.org/W3000079614","https://openalex.org/W3010844811","https://openalex.org/W3034148532","https://openalex.org/W3138992299","https://openalex.org/W3175508272","https://openalex.org/W3178190939"],"related_works":["https://openalex.org/W2375706956","https://openalex.org/W1996212220","https://openalex.org/W2322736056","https://openalex.org/W2391287140","https://openalex.org/W2955404263","https://openalex.org/W2374158927","https://openalex.org/W2013165546","https://openalex.org/W2262385477","https://openalex.org/W2277070464","https://openalex.org/W4285089922"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3],"new":[4],"locomotion":[5,75],"algorithm":[6,29],"for":[7,15,30],"truss":[8],"robots":[9],"on":[10,66],"irregular":[11,37],"terrain,":[12,48],"in":[13,101],"particular,":[14],"the":[16,67,89],"Variable":[17],"Topology":[18],"Truss":[19],"(VTT)":[20],"system.":[21],"The":[22,74,93],"previous":[23],"Polygon-based":[24],"Random":[25],"Tree":[26],"(PRT)":[27],"search":[28,54],"support":[31,91],"polygon":[32],"generation":[33],"is":[34,63,77,96],"extended":[35],"to":[36,55,88],"terrain":[38],"while":[39],"considering":[40],"friction":[41],"and":[42,70,81],"internal":[43],"force":[44],"limitations.":[45],"By":[46],"characterizing":[47],"unreachable":[49],"areas":[50],"are":[51],"excluded":[52],"from":[53],"increase":[56],"efficiency.":[57],"A":[58],"one-step":[59],"rolling":[60],"motion":[61,84],"primitive":[62],"generated":[64],"based":[65],"kinematics,":[68],"statics,":[69],"constraints":[71],"of":[72,104],"VTT.":[73],"planning":[76],"completed":[78],"by":[79,98],"transforming":[80],"connecting":[82],"multiple":[83,102],"primitives":[85],"with":[86],"respect":[87],"desired":[90],"polygons.":[92],"algorithm's":[94],"performance":[95],"verified":[97],"conducting":[99],"simulations":[100],"types":[103],"environments.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
