{"id":"https://openalex.org/W4387935089","doi":"https://doi.org/10.1109/lra.2023.3327674","title":"Design, Modeling, and Control of a Legless Squamate Reptiles Inspired Soft Crawling Robot","display_name":"Design, Modeling, and Control of a Legless Squamate Reptiles Inspired Soft Crawling Robot","publication_year":2023,"publication_date":"2023-10-25","ids":{"openalex":"https://openalex.org/W4387935089","doi":"https://doi.org/10.1109/lra.2023.3327674"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3327674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3327674","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":"https://openalex.org/A5029849241","display_name":"Huichen Ma","orcid":"https://orcid.org/0000-0002-6406-771X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huichen Ma","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6406-771X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091736147","display_name":"Junjie Zhou","orcid":"https://orcid.org/0000-0001-7758-4807"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Zhou","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","Institute of Advanced Technology, Beijing Institute of Technology, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-7758-4807","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Institute of Advanced Technology, Beijing Institute of Technology, Jinan, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100567789","display_name":"Lijun Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Meng","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039684367","display_name":"Jianghao Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianghao Jiang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029849241"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.4292,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58054437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"8","issue":"12","first_page":"8430","last_page":"8437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.9783111810684204},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.7155531048774719},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7135655283927917},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6356039643287659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6102919578552246},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.47222521901130676},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4395864009857178},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42272430658340454},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3833957612514496},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.349608838558197},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2851755917072296},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2638959288597107},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19223526120185852},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13457563519477844},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12113162875175476}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9783111810684204},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.7155531048774719},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7135655283927917},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6356039643287659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6102919578552246},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.47222521901130676},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4395864009857178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42272430658340454},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3833957612514496},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.349608838558197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2851755917072296},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2638959288597107},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19223526120185852},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13457563519477844},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12113162875175476},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3327674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3327674","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1541112841","https://openalex.org/W2030913693","https://openalex.org/W2033910955","https://openalex.org/W2074207981","https://openalex.org/W2085529016","https://openalex.org/W2125096161","https://openalex.org/W2149694982","https://openalex.org/W2150253435","https://openalex.org/W2492601910","https://openalex.org/W2515930553","https://openalex.org/W2767705041","https://openalex.org/W2788127870","https://openalex.org/W2794212103","https://openalex.org/W2822403749","https://openalex.org/W2891773274","https://openalex.org/W2910909356","https://openalex.org/W3003612685","https://openalex.org/W3004176359","https://openalex.org/W3025416399","https://openalex.org/W3107970768","https://openalex.org/W3157380428","https://openalex.org/W3200868167","https://openalex.org/W3217393940","https://openalex.org/W4220901398","https://openalex.org/W4295897009","https://openalex.org/W4313347125","https://openalex.org/W4317383026","https://openalex.org/W4385335327","https://openalex.org/W6722674002"],"related_works":["https://openalex.org/W2968643431","https://openalex.org/W2942196653","https://openalex.org/W2998506550","https://openalex.org/W1972877171","https://openalex.org/W4390135167","https://openalex.org/W2188053476","https://openalex.org/W2599193808","https://openalex.org/W2169712669","https://openalex.org/W2321283884","https://openalex.org/W4289731088"],"abstract_inverted_index":{"For":[0],"soft":[1,27,46,60,113],"crawling":[2,47,61,114,139],"robots":[3],"moving":[4],"in":[5,49],"two-dimensional":[6],"space,":[7],"accurate":[8],"dynamics":[9,34],"models":[10,35,102],"are":[11,82,103],"the":[12,42,50,71,75,91,107,112,117,120,124,133,138],"basis":[13],"for":[14,23],"control":[15,92,95],"and":[16,25,84,132],"navigation.":[17],"However,":[18],"it":[19],"is":[20,98],"still":[21],"challenging":[22],"nonlinear":[24],"low-bandwidth":[26],"robot":[28,48],"systems.":[29],"This":[30],"article":[31],"details":[32],"two":[33],"that":[36,63],"can":[37],"be":[38],"applied":[39],"to":[40,86],"predict":[41],"motion":[43,72],"of":[44,52,74,94,111,119],"a":[45,58,66],"context":[51],"2D":[53],"modeling.":[54],"We":[55],"also":[56],"propose":[57],"pneumatic":[59],"module":[62],"moves":[64],"using":[65],"scale-like":[67],"chassis.":[68],"By":[69],"analyzing":[70],"principle":[73],"legless":[76],"squamate":[77],"reptile,":[78],"three":[79],"chassis":[80],"structures":[81],"created":[83],"fabricated":[85],"simulate":[87],"anisotropic":[88],"friction.":[89],"And":[90],"law":[93],"system":[96],"parameters":[97,110],"explored.":[99],"The":[100],"above":[101],"simulated":[104],"based":[105],"on":[106],"measured":[108],"physical":[109],"module.":[115],"Through":[116],"analysis":[118],"experimental":[121],"locomotion":[122],"results,":[123],"horizontal":[125],"belt":[126],"type":[127],"shows":[128],"more":[129],"effective":[130],"action,":[131],"proposed":[134],"model":[135],"accurately":[136],"describes":[137],"robot's":[140],"motion.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
