{"id":"https://openalex.org/W2093799241","doi":"https://doi.org/10.1109/robio.2012.6491311","title":"Mechanical design, modeling and analysis of a miniature throw-able robot with transformation capacity","display_name":"Mechanical design, modeling and analysis of a miniature throw-able robot with transformation capacity","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2093799241","doi":"https://doi.org/10.1109/robio.2012.6491311","mag":"2093799241"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5032246249","display_name":"Yuan Qu","orcid":"https://orcid.org/0000-0002-2293-3165"},"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":"Yuan Qu","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China","[Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034909379","display_name":"Rong Liu","orcid":"https://orcid.org/0000-0002-3238-5705"},"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":"Rong Liu","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China","[Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, China]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080749296","display_name":"Bowen Li","orcid":"https://orcid.org/0000-0003-4893-0525"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bowen Li","raw_affiliation_strings":["NO.2 middle school, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NO.2 middle school, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2294","last_page":"2299"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980999827384949,"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":0.9980999827384949,"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":0.9961000084877014,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/robot","display_name":"Robot","score":0.802101194858551},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6829651594161987},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.6205450296401978},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5408011674880981},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5214123725891113},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5014004707336426},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.487102746963501},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.476937472820282},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47667932510375977},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4672887921333313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4455898404121399},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.437834769487381},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3690938949584961},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34430092573165894},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12952911853790283},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06787386536598206}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.802101194858551},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6829651594161987},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.6205450296401978},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5408011674880981},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5214123725891113},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5014004707336426},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.487102746963501},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.476937472820282},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47667932510375977},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4672887921333313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4455898404121399},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.437834769487381},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3690938949584961},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34430092573165894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12952911853790283},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06787386536598206},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322214","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1978389426","https://openalex.org/W2073990895","https://openalex.org/W2074792540","https://openalex.org/W2079758116","https://openalex.org/W2092067839","https://openalex.org/W2096648665","https://openalex.org/W2100652275","https://openalex.org/W2366851655","https://openalex.org/W4249185699"],"related_works":["https://openalex.org/W4205370188","https://openalex.org/W2348363276","https://openalex.org/W2158374453","https://openalex.org/W2157600580","https://openalex.org/W2142955042","https://openalex.org/W2771857660","https://openalex.org/W2792156965","https://openalex.org/W2106617478","https://openalex.org/W2909807275","https://openalex.org/W2076290979"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"mechanical":[3],"design,":[4],"modeling":[5],"and":[6,28,67,72,96,100,109],"analysis":[7],"of":[8,55,74,89,105,111],"a":[9,31,37,41,49],"miniature":[10],"throw-able":[11],"robot":[12,17,35,46,60,91,107],"with":[13,36],"transformation":[14,65],"capacity.":[15],"The":[16,45],"could":[18],"keep":[19],"in":[20],"spherical":[21],"shape":[22],"for":[23],"overall":[24],"protection":[25],"during":[26],"throwing,":[27],"transform":[29],"to":[30,51],"regular":[32],"two-wheeled":[33],"mobile":[34],"foldable":[38,76],"tail":[39,77],"as":[40],"third":[42],"point":[43],"support.":[44],"also":[47,94],"equips":[48],"servo-system":[50,88],"adjust":[52],"pitch":[53],"angle":[54],"the":[56,63,75,90,106],"camera":[57,92],"which":[58],"facilitates":[59],"operation.":[61],"In":[62,86],"paper,":[64],"principle":[66],"related":[68,112],"calculation":[69],"are":[70,78],"presented,":[71],"parameters":[73],"discussed":[79],"about":[80],"respective":[81],"influences":[82],"on":[83],"obstacle":[84],"performance.":[85],"addition,":[87],"is":[93],"modeled":[95],"analyzed.":[97],"Both":[98],"simulations":[99],"experiments":[101],"have":[102],"proved":[103],"effectiveness":[104],"design":[108],"correctness":[110],"analysis.":[113]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}