{"id":"https://openalex.org/W2107806810","doi":"https://doi.org/10.1109/robio.2010.5723549","title":"Kinematic analysis of snake-like robot using sliding joints","display_name":"Kinematic analysis of snake-like robot using sliding joints","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2107806810","doi":"https://doi.org/10.1109/robio.2010.5723549","mag":"2107806810"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5030433279","display_name":"Kundong Wang","orcid":"https://orcid.org/0000-0003-3969-5148"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kundong Wang","raw_affiliation_strings":["Department of Instrument Engineering, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Instrument Engineering, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Japan","Shenyang Institute of Automation, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5030433279"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.4223,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.67582551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1484","last_page":"1489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9980000257492065,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9962000250816345,"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/adaptability","display_name":"Adaptability","score":0.8139163255691528},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7966505289077759},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7701642513275146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5675225853919983},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5504494905471802},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5430956482887268},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5172379612922668},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4252457618713379},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4220023453235626},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.41756463050842285},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37079328298568726},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3451201617717743},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34077563881874084},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08459687232971191},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0508403480052948},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.04725748300552368}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.8139163255691528},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7966505289077759},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7701642513275146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5675225853919983},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5504494905471802},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5430956482887268},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5172379612922668},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4252457618713379},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4220023453235626},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.41756463050842285},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37079328298568726},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3451201617717743},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34077563881874084},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08459687232971191},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0508403480052948},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.04725748300552368},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"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":13,"referenced_works":["https://openalex.org/W1989694300","https://openalex.org/W2012847731","https://openalex.org/W2030913693","https://openalex.org/W2033910955","https://openalex.org/W2104114185","https://openalex.org/W2117854486","https://openalex.org/W2118174850","https://openalex.org/W2123431998","https://openalex.org/W2143030465","https://openalex.org/W2144026911","https://openalex.org/W2153499144","https://openalex.org/W3193680531","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W4205370188","https://openalex.org/W2086863125","https://openalex.org/W2291700020","https://openalex.org/W3096187747","https://openalex.org/W2997199187","https://openalex.org/W4362682344","https://openalex.org/W4242231179","https://openalex.org/W4285332827","https://openalex.org/W2390118544","https://openalex.org/W3130903143"],"abstract_inverted_index":{"The":[0],"snake-like":[1],"robot":[2,50,63,78,98],"can":[3,51,79],"be":[4],"adaptive":[5],"to":[6,38,56,101,106],"many":[7],"terrains":[8],"with":[9],"its":[10,53],"abundant":[11],"gaits.":[12],"Serpentine":[13],"locomotion":[14,41],"is":[15,36,99],"adopted":[16],"widely,":[17],"while":[18],"concertina,":[19],"side":[20],"winding":[21],"and":[22,70,86],"rectilinear":[23,88],"motions":[24],"are":[25],"considered":[26],"little.":[27],"To":[28],"improve":[29],"the":[30,49,57,71,84,87,92],"adaptability":[31,105],"in":[32],"non-known":[33],"environment,":[34],"it":[35],"essential":[37],"include":[39],"more":[40],"methods":[42],"into":[43],"one":[44],"robot.":[45],"In":[46,59],"that":[47],"case,":[48],"change":[52],"gaits":[54],"according":[55],"environment.":[58,108],"this":[60],"research,":[61],"a":[62,103],"using":[64],"additional":[65],"sliding":[66],"joints":[67],"was":[68,75],"proposed":[69],"related":[72],"kinematics":[73],"analysis":[74],"performed.":[76],"This":[77,97],"not":[80],"only":[81],"realize":[82],"both":[83],"serpentine":[85],"motion,":[89],"but":[90],"also":[91],"fusion":[93],"of":[94],"two":[95],"motions.":[96],"expected":[100],"have":[102],"higher":[104],"complex":[107]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}