{"id":"https://openalex.org/W2130385363","doi":"https://doi.org/10.1109/robio.2009.5420579","title":"Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system","display_name":"Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2130385363","doi":"https://doi.org/10.1109/robio.2009.5420579","mag":"2130385363"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5013420326","display_name":"Wenpeng Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Wenpeng Yu","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059229969","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0001-9596-2752"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040049996","display_name":"Zongliang Li","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Zongliang Li","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090887745","display_name":"Tang Huilin","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Huilin Tang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112043324","display_name":"Guanghua Zong","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Guanghua Zong","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of Beihang University, 37# Xueyuan Road, Haidian, City Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.19495253,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"5799","issue":null,"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":1.0,"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":1.0,"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":0.9599000215530396,"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":0.9422000050544739,"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/docking","display_name":"Docking (animal)","score":0.8251813650131226},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6985538005828857},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6501679420471191},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5822305679321289},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5044463872909546},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4237945079803467},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4133504331111908},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4036991000175476},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3381164073944092},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21923792362213135},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18962714076042175},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.18547388911247253}],"concepts":[{"id":"https://openalex.org/C41685203","wikidata":"https://www.wikidata.org/wiki/Q1974042","display_name":"Docking (animal)","level":2,"score":0.8251813650131226},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6985538005828857},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6501679420471191},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5822305679321289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5044463872909546},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4237945079803467},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4133504331111908},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4036991000175476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3381164073944092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21923792362213135},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18962714076042175},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.18547388911247253},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C159110408","wikidata":"https://www.wikidata.org/wiki/Q121176","display_name":"Nursing","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1562139877","https://openalex.org/W1972964489","https://openalex.org/W2016756434","https://openalex.org/W2027117269","https://openalex.org/W2078066744","https://openalex.org/W2091307069","https://openalex.org/W2096537964","https://openalex.org/W2133150890","https://openalex.org/W2139699368","https://openalex.org/W2139987867","https://openalex.org/W2145343439","https://openalex.org/W2167382904","https://openalex.org/W2187425899","https://openalex.org/W3083312001","https://openalex.org/W6680744319"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W1493733355","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2155878025","https://openalex.org/W3015461243","https://openalex.org/W2104798340","https://openalex.org/W2739129706","https://openalex.org/W2137902741","https://openalex.org/W2160776444"],"abstract_inverted_index":{"Rigid":[0],"docking":[1,44,51,71,82,88],"is":[2,46,73,84],"important":[3],"for":[4,86],"field":[5,90],"modular":[6,91],"self-reconfigurable":[7,92],"robot":[8],"system,":[9],"and":[10,29,75],"6-dimension":[11],"position/orientation":[12,37],"offset":[13],"should":[14],"be":[15],"conquered":[16],"during":[17],"alignment.":[18],"This":[19,55],"paper":[20,56],"builds":[21],"geometric":[22],"constraint":[23],"model":[24],"of":[25,89],"fundamental":[26],"aligning":[27],"methods":[28],"defines":[30],"a":[31,40],"2-element":[32],"state":[33],"vector":[34],"to":[35,48],"evaluate":[36],"offset.":[38,63],"Then,":[39],"3-DOF":[41],"hybrid":[42],"rigid":[43,50,70,87],"mechanism":[45,72,83],"introduced":[47],"achieve":[49],"in":[52,94],"rugged":[53,95],"terrain.":[54,96],"also":[57],"gives":[58],"out":[59],"its":[60],"maximum":[61],"allowable":[62],"Based":[64],"on":[65],"this":[66,81],"solution,":[67],"Jl-2":[68],"prototype":[69],"developed":[74],"tested.":[76],"Following":[77],"experiments":[78],"shows":[79],"that":[80],"suitable":[85],"robots":[93]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}