{"id":"https://openalex.org/W2908607484","doi":"https://doi.org/10.1109/lra.2019.2892596","title":"Optimization-Based Nonimpact Rolling Locomotion of a Variable Geometry Truss","display_name":"Optimization-Based Nonimpact Rolling Locomotion of a Variable Geometry Truss","publication_year":2019,"publication_date":"2019-01-11","ids":{"openalex":"https://openalex.org/W2908607484","doi":"https://doi.org/10.1109/lra.2019.2892596","mag":"2908607484"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2892596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2892596","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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":null,"display_name":"Sumin Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sumin Park","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101617359","display_name":"Eugene Park","orcid":"https://orcid.org/0000-0002-0878-9830"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eugene Park","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"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":["School of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0837-052X","affiliations":[{"raw_affiliation_string":"School of 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/A5100356559","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0003-2519-6890"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwon Kim","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"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":"Tae Won Seo","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9447-7675","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3723,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.87157873,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"4","issue":"2","first_page":"747","last_page":"752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/polygon","display_name":"Polygon (computer graphics)","score":0.6963478326797485},{"id":"https://openalex.org/keywords/truss","display_name":"Truss","score":0.6312906742095947},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5569232702255249},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4915986955165863},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48990172147750854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47772690653800964},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3556833267211914},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28657716512680054},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17993870377540588},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15656641125679016},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1449517011642456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1380900740623474},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.08237552642822266}],"concepts":[{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.6963478326797485},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.6312906742095947},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5569232702255249},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4915986955165863},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48990172147750854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47772690653800964},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3556833267211914},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28657716512680054},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17993870377540588},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15656641125679016},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1449517011642456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1380900740623474},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.08237552642822266},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2892596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2892596","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1669706503","https://openalex.org/W1973791928","https://openalex.org/W1975103987","https://openalex.org/W1976133524","https://openalex.org/W1985760348","https://openalex.org/W1993836827","https://openalex.org/W2032139405","https://openalex.org/W2052935743","https://openalex.org/W2059242341","https://openalex.org/W2098759357","https://openalex.org/W2141271238","https://openalex.org/W2143660670","https://openalex.org/W2159432469","https://openalex.org/W2168369129","https://openalex.org/W2775410230","https://openalex.org/W2775588140","https://openalex.org/W2891082402","https://openalex.org/W2916057004","https://openalex.org/W2964303882","https://openalex.org/W6637286394","https://openalex.org/W6648809175","https://openalex.org/W6684596383"],"related_works":["https://openalex.org/W2955404263","https://openalex.org/W2055188469","https://openalex.org/W2365888646","https://openalex.org/W4238655142","https://openalex.org/W2729632630","https://openalex.org/W2914493398","https://openalex.org/W2741416590","https://openalex.org/W2741963359","https://openalex.org/W4243933248","https://openalex.org/W933396280"],"abstract_inverted_index":{"A":[0,147],"variable":[1],"geometry":[2],"truss":[3],"(VGT)":[4],"is":[5,47,96],"a":[6,18,37,56,61,65,110,117,141],"modular":[7],"truss-structured":[8],"robot":[9],"consisting":[10],"of":[11,81,94,101,126,138,144],"linear":[12],"actuators":[13],"and":[14,30,54,64,105,164],"three-degree-of-freedom":[15],"joints.":[16],"Having":[17],"sophisticated":[19],"structure,":[20],"the":[21,32,50,71,74,84,88,91,99,102,113,124,127,136,151,155],"VGT":[22,44,51,75,156],"can":[23,76],"easily":[24],"be":[25],"damaged":[26],"when":[27],"it":[28,106],"rolls":[29],"impacts":[31],"ground.":[33],"This":[34,121],"letter":[35],"proposes":[36],"nonimpact":[38],"rolling":[39,66,89,145],"locomotion":[40],"scheme":[41],"to":[42,115],"avoid":[43],"damage.":[45],"It":[46],"assumed":[48],"that":[49,135,150,154],"moves":[52],"quasi-statically":[53],"maintains":[55,157],"static":[57,159],"stability.":[58],"There":[59],"exists":[60],"control":[62,72],"phase":[63,67],"during":[68],"locomotion.":[69],"During":[70,87],"phase,":[73,90],"freely":[77],"move":[78],"its":[79,158,167],"center":[80,93,137],"mass":[82,95,139],"within":[83],"supporting":[85],"polygon.":[86,120],"VGT's":[92,128],"fixed":[97],"at":[98,130],"edge":[100],"support":[103,119],"polygon,":[104],"tilts":[107],"forward":[108],"until":[109],"node":[111],"touches":[112],"ground":[114],"make":[116],"new":[118],"algorithm":[122,152],"optimizes":[123],"velocity":[125],"nodes":[129],"every":[131],"time":[132],"step":[133],"so":[134],"follows":[140,166],"desired":[142,168],"trajectory":[143],"motion.":[146],"simulation":[148],"verifies":[149],"ensures":[153],"stability,":[160],"does":[161],"not":[162],"tumble,":[163],"accurately":[165],"trajectory.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}