{"id":"https://openalex.org/W2063447658","doi":"https://doi.org/10.1109/robio.2011.6181398","title":"Development of a genderless and fail-safe connection system for autonomous modular robots","display_name":"Development of a genderless and fail-safe connection system for autonomous modular robots","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2063447658","doi":"https://doi.org/10.1109/robio.2011.6181398","mag":"2063447658"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5078244508","display_name":"Guoqiang Fu","orcid":"https://orcid.org/0000-0003-2887-284X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","IT"],"is_corresponding":true,"raw_author_name":"Guoqiang Fu","raw_affiliation_strings":["Center for Intelligent and Biomimetic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","The BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa, Italy","The Chinese University of Hong kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent and Biomimetic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The Chinese University of Hong kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arianna Menciassi","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Dario","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078244508"],"corresponding_institution_ids":["https://openalex.org/I162290304","https://openalex.org/I177725633","https://openalex.org/I19820366","https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.5047,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.71521592,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3630","issue":null,"first_page":"877","last_page":"882"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9668999910354614,"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/T12288","display_name":"Optimization and Search Problems","score":0.9527000188827515,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8883020281791687},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.7864460945129395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7693805694580078},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.7680106163024902},{"id":"https://openalex.org/keywords/cable-gland","display_name":"Cable gland","score":0.6430075168609619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6397272348403931},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6290416121482849},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5144648551940918},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4950045943260193},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4479654133319855},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4042258560657501},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34585508704185486},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24282634258270264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23227238655090332},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17789283394813538},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07450079917907715},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.0662854015827179},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06471195816993713}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8883020281791687},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.7864460945129395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7693805694580078},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.7680106163024902},{"id":"https://openalex.org/C110925319","wikidata":"https://www.wikidata.org/wiki/Q12855","display_name":"Cable gland","level":2,"score":0.6430075168609619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6397272348403931},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6290416121482849},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5144648551940918},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4950045943260193},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4479654133319855},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4042258560657501},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34585508704185486},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24282634258270264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23227238655090332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17789283394813538},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07450079917907715},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0662854015827179},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06471195816993713},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Gender equality","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/5"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1517438814","https://openalex.org/W1524850010","https://openalex.org/W2041708305","https://openalex.org/W2048786044","https://openalex.org/W2061745415","https://openalex.org/W2106675317","https://openalex.org/W2112764944","https://openalex.org/W2128547140","https://openalex.org/W2133150890","https://openalex.org/W2139841931","https://openalex.org/W2141202025","https://openalex.org/W2141724420","https://openalex.org/W2145670645","https://openalex.org/W2149841830","https://openalex.org/W2151184984","https://openalex.org/W2167983353","https://openalex.org/W6630896125","https://openalex.org/W6676031306"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W2064761790","https://openalex.org/W2247893165","https://openalex.org/W3112291164","https://openalex.org/W3158732870","https://openalex.org/W1983823126","https://openalex.org/W2101970395","https://openalex.org/W1653876660"],"abstract_inverted_index":{"One":[0],"of":[1,9,28,54,80,89],"the":[2,24,49,86,119],"most":[3],"challenging":[4],"tasks":[5],"on":[6],"developing":[7],"hardware":[8],"modular":[10,38,56],"robots":[11,39,57],"is":[12,93,123],"to":[13],"design":[14,25,88],"a":[15,29,52,61,71,78,90],"reliable":[16],"and":[17,26,31,44,68,98,113,127],"flexible":[18],"connection":[19,34,91,121],"system.":[20],"This":[21],"paper":[22],"presents":[23],"implementation":[27],"GENderless":[30],"FAil-safe":[32],"(GENFA)":[33],"system":[35,92,122],"for":[36],"autonomous":[37,55],"that":[40,118],"possesses":[41],"self-assembly,":[42],"self-reconfiguration":[43],"self-healing":[45],"capabilities.":[46],"By":[47],"using":[48],"GENFA":[50,120],"connector,":[51],"group":[53],"can":[58,75],"assemble":[59],"into":[60,77],"single":[62,72],"robotic":[63,73],"organism.":[64],"With":[65],"robust":[66],"mechanical":[67,96],"electrical":[69],"connection,":[70],"organism":[74],"disassemble":[76],"set":[79],"disconnected":[81],"units.":[82],"In":[83],"this":[84],"paper,":[85],"detailed":[87],"presented.":[94],"Then,":[95],"strength":[97],"misalignment":[99,130],"tolerance":[100],"are":[101,107],"studied":[102],"theoretically.":[103],"Some":[104],"experimental":[105,115],"tests":[106],"conducted":[108],"with":[109],"miniature":[110],"mobile":[111],"robots,":[112],"some":[114],"results":[116],"show":[117],"power":[124],"efficient,":[125],"fail-safe,":[126],"has":[128],"limited":[129],"tolerance.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}