{"id":"https://openalex.org/W7135216147","doi":"https://doi.org/10.1109/lra.2026.3674012","title":"Whole-Body Path Following of an Active-Joint Active-Wheel Snake Robot Based on Head-Body Stepwise Control","display_name":"Whole-Body Path Following of an Active-Joint Active-Wheel Snake Robot Based on Head-Body Stepwise Control","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7135216147","doi":"https://doi.org/10.1109/lra.2026.3674012"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3674012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3674012","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5025897181","display_name":"Fuxi Wan","orcid":"https://orcid.org/0009-0002-0111-9954"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuxi Wan","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0002-0111-9954","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078971977","display_name":"Xian Guo","orcid":"https://orcid.org/0000-0003-3793-1207"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xian Guo","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-3793-1207","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033424074","display_name":"Huawang Liu","orcid":"https://orcid.org/0000-0002-5290-0305"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huawang Liu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5290-0305","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129047132","display_name":"Wei Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Huang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-4950-2859","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5128967545","display_name":"Zhong Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I20942203","display_name":"Hainan University","ror":"https://ror.org/03q648j11","country_code":"CN","type":"education","lineage":["https://openalex.org/I20942203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Huang","raw_affiliation_strings":["School of Information and Communication Engineering, Hainan University, Haikou, China"],"raw_orcid":"https://orcid.org/0000-0002-1263-9464","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, Hainan University, Haikou, China","institution_ids":["https://openalex.org/I20942203"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22609141,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"5646","last_page":"5653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.6312000155448914,"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":0.6312000155448914,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.18170000612735748,"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":0.09399999678134918,"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/robot","display_name":"Robot","score":0.5156999826431274},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5055000185966492},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4745999872684479},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45579999685287476},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41519999504089355},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3395000100135803}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5532000064849854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5156999826431274},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5055000185966492},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4745999872684479},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45579999685287476},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41519999504089355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36970001459121704},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3395000100135803},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3375000059604645},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30809998512268066},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30300000309944153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2994000017642975},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28369998931884766},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2703999876976013}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3674012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3674012","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"id":"https://openalex.org/G11483067","display_name":null,"funder_award_id":"62233011","funder_id":"https://openalex.org/F4320327720","funder_display_name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China"},{"id":"https://openalex.org/G7182646118","display_name":null,"funder_award_id":"624B2074","funder_id":"https://openalex.org/F4320327720","funder_display_name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320327720","display_name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,62,70,98,112],"two-dimensional":[4],"planar":[5],"path-following":[6,65,108],"controller":[7,114,135,169,211],"for":[8,50,104,117,138,197],"active-joint":[9,51],"active-wheel":[10,18,52,186],"snake-like":[11,187],"robots.":[12],"Compared":[13],"to":[14,32,37,74,172,213,227],"passive-wheel":[15],"snake":[16,19,53,106,125],"robots,":[17],"robots":[20,54],"can":[21,189],"navigate":[22],"narrower":[23],"spaces":[24],"and":[25,42,83,88,100,152,193,200,217],"generate":[26],"stronger":[27],"driving":[28],"forces,":[29],"enabling":[30],"adaptation":[31],"various":[33],"terrains.":[34],"However,":[35],"due":[36],"the":[38,76,84,93,105,118,122,142,149,153,174,180,204,209,214,221,224],"highly":[39],"redundant":[40],"multi-link":[41],"multi-active-wheel":[43],"body":[44,107],"configuration,":[45],"achieving":[46],"whole-body":[47,181],"path":[48,129,133,182],"following":[49,134,183,206],"is":[55,115,136,146,159,170,231],"challenging.":[56],"To":[57,127],"address":[58],"this,":[59],"we":[60,96],"propose":[61],"head-body":[63],"stepwise":[64],"control":[66,109,173],"method":[67,216,226],"based":[68,161],"on":[69,162],"multi-rigid-body":[71],"kinematic":[72,102,163],"model":[73,103],"solve":[75],"problem":[77],"of":[78,81,121,156,176,185,208,223],"high":[79],"degrees":[80],"freedom":[82],"coordination":[85],"between":[86],"joints":[87],"wheels.":[89],"First,":[90],"by":[91],"applying":[92],"no-side-slip":[94],"constraint,":[95],"construct":[97],"multi-joint":[99],"multi-wheel":[101],"task.":[110],"Then,":[111,141],"motion":[113,120,150],"designed":[116,137,143,171],"fundamental":[119],"active":[123],"wheeled":[124],"robot.":[126],"achieve":[128],"following,":[130],"an":[131,166],"arbitrary":[132],"turning":[139,144],"angle.":[140],"angle":[145,175],"substituted":[147],"into":[148],"controller,":[151],"angular":[154],"velocity":[155],"each":[157,177],"joint":[158],"calculated":[160],"model.":[164],"Subsequently,":[165],"incremental":[167],"PID":[168],"joint.":[178],"Finally,":[179],"task":[184],"robot":[188],"be":[190],"implemented.":[191],"Simulation":[192],"extensive":[194],"experimental":[195],"results":[196],"both":[198],"curvature-continuous":[199],"curvature-discontinuous":[201],"paths":[202],"demonstrate":[203],"superior":[205],"performance":[207],"proposed":[210,225],"compared":[212],"PD":[215],"passive-joint":[218],"conditions.":[219],"Furthermore,":[220],"robustness":[222],"variations":[228],"in":[229],"friction":[230],"validated.":[232]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-03-14T00:00:00"}