{"id":"https://openalex.org/W7130719783","doi":"https://doi.org/10.1109/lra.2026.3666703","title":"Ladder and Net Climbing for a Snake Robot Using Partial Caging","display_name":"Ladder and Net Climbing for a Snake Robot Using Partial Caging","publication_year":2026,"publication_date":"2026-02-20","ids":{"openalex":"https://openalex.org/W7130719783","doi":"https://doi.org/10.1109/lra.2026.3666703"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3666703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3666703","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/A5126509052","display_name":"Kodai Yoshida","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kodai Yoshida","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0005-7822-7015","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004309589","display_name":"Ching Wen Chin","orcid":"https://orcid.org/0000-0002-1162-0737"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ching Wen Chin","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1162-0737","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065818266","display_name":"Motoyasu TANAKA","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motoyasu Tanaka","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3717-8852","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16444939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4585","last_page":"4592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9879999756813049,"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":0.9879999756813049,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.004900000058114529,"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/T11486","display_name":"Micro and Nano Robotics","score":0.003000000026077032,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7454000115394592},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.7307999730110168},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6432999968528748},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.5644999742507935},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4481000006198883},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.4205999970436096},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.420199990272522},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.41449999809265137}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7454000115394592},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7307999730110168},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6432999968528748},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.5644999742507935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45879998803138733},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4481000006198883},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43320000171661377},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.4205999970436096},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.420199990272522},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.41449999809265137},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4074000120162964},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3950999975204468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3806999921798706},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3578000068664551},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3375000059604645},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.3278000056743622},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.32690000534057617},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.325300008058548},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28209999203681946},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2678999900817871},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.26510000228881836},{"id":"https://openalex.org/C14166107","wikidata":"https://www.wikidata.org/wiki/Q253829","display_name":"Net (polyhedron)","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.2551000118255615},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3666703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3666703","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":0.510017991065979,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"the":[3,26,30,33,54,63,73,80],"gait":[4,19],"motion":[5,65],"of":[6,82],"climbing":[7,50],"ladder":[8],"and":[9,29,78],"net":[10],"for":[11],"a":[12],"snake":[13,27],"robot":[14,28,34,55],"using":[15],"partial":[16,47],"caging.":[17],"These":[18],"motions":[20,51],"only":[21],"involve":[22],"little":[23],"contact":[24],"between":[25],"environment,":[31],"where":[32],"may":[35],"slip":[36],"down":[37],"easily.":[38],"A":[39],"target":[40],"body":[41],"shape":[42],"is":[43],"proposed":[44,84],"that":[45],"incorporates":[46],"caging":[48],"into":[49],"to":[52,68,72],"prevent":[53],"from":[56],"slipping":[57],"down.":[58],"In":[59],"addition,":[60],"we":[61],"propose":[62],"rolling":[64],"in":[66],"order":[67],"achieve":[69],"better":[70],"constraint":[71],"environment.":[74],"We":[75],"performed":[76],"experiments":[77],"demonstrated":[79],"effectiveness":[81],"our":[83],"method.":[85]},"counts_by_year":[],"updated_date":"2026-03-01T06:05:34.837733","created_date":"2026-02-21T00:00:00"}
