{"id":"https://openalex.org/W2062010246","doi":"https://doi.org/10.1109/robio.2014.7090393","title":"Locomotion control of a snake-like robot based on velocity disturbance","display_name":"Locomotion control of a snake-like robot based on velocity disturbance","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2062010246","doi":"https://doi.org/10.1109/robio.2014.7090393","mag":"2062010246"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5078971977","display_name":"Xian Guo","orcid":"https://orcid.org/0000-0003-3793-1207"},"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/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xian Guo","raw_affiliation_strings":["State Key Laboratory of Robotics, University of Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences and University of Chinese Academy of Sciences. Shenyang 110016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, University of Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences and University of Chinese Academy of Sciences. Shenyang 110016 China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"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"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"ShuGen Ma","raw_affiliation_strings":["State Key Laboratory of Robotics, Ritsumeikan University, Shiga-ken, Japan","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences and Ritsumeikan University, Shiga-ken 525-8577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Ritsumeikan University, Shiga-ken, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences and Ritsumeikan University, Shiga-ken 525-8577, Japan","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365228","display_name":"Bin Li","orcid":"https://orcid.org/0000-0002-8903-3874"},"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/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100376911","display_name":"Minghui Wang","orcid":"https://orcid.org/0000-0003-4517-6782"},"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/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"MingHui Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"582","last_page":"587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9883000254631042,"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":0.9853000044822693,"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/disturbance","display_name":"Disturbance (geology)","score":0.7663899660110474},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7444878220558167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7331612706184387},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5462075471878052},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4823031425476074},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.47437983751296997},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4663632810115814},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4337530732154846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42876285314559937},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.42370742559432983},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41839149594306946},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2437308430671692},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2186974287033081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2157687246799469},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07688900828361511},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06503739953041077}],"concepts":[{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.7663899660110474},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7444878220558167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7331612706184387},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5462075471878052},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4823031425476074},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.47437983751296997},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4663632810115814},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4337530732154846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42876285314559937},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.42370742559432983},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41839149594306946},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2437308430671692},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2186974287033081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2157687246799469},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07688900828361511},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06503739953041077},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1526599466","https://openalex.org/W1898305668","https://openalex.org/W2022791344","https://openalex.org/W2091744500","https://openalex.org/W2100972151","https://openalex.org/W2107341899","https://openalex.org/W2128095394","https://openalex.org/W2133361850","https://openalex.org/W2145076589","https://openalex.org/W2151103906","https://openalex.org/W2162554835","https://openalex.org/W2163994137","https://openalex.org/W2171544840","https://openalex.org/W2180591078","https://openalex.org/W3105080161","https://openalex.org/W4285719527","https://openalex.org/W6675176172"],"related_works":["https://openalex.org/W3096187747","https://openalex.org/W2291700020","https://openalex.org/W2086863125","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W3004220142","https://openalex.org/W2168918646","https://openalex.org/W2283275227","https://openalex.org/W4362682344","https://openalex.org/W4285332827"],"abstract_inverted_index":{"This":[0,98],"paper":[1],"presents":[2],"a":[3,16,36,42],"novel":[4],"method":[5,69,99,118],"based":[6,49],"on":[7,50],"the":[8,13,28,51,56,62,67,76,82,87,92,95,103,107,116,121,124],"velocity":[9,57,83,88],"disturbance":[10,58,89],"to":[11,61],"control":[12,68,91,120],"locomotion":[14,73,93,122],"of":[15,35,75,94,106,123],"snake-like":[17,37,77,96,108,125],"robot.":[18,97,109,126],"The":[19,31,72,110],"inputs":[20],"are":[21,25,39,46],"joint":[22],"torques":[23],"which":[24],"derived":[26,48],"from":[27],"dynamics":[29,33,44,64],"equations.":[30],"traditional":[32],"equations":[34,45],"robot":[38,78],"complex,":[40],"so":[41],"simplified":[43,63],"firstly":[47],"differential":[52],"geometry":[53],"theory.":[54],"Then":[55],"is":[59,70,79],"introduced":[60],"equation":[65],"and":[66],"proposed.":[71],"gait":[74],"decided":[80],"by":[81],"disturbance.":[84],"So":[85],"controlling":[86],"can":[90,100,119],"also":[101],"avoid":[102],"singular":[104],"posture":[105],"numerical":[111],"simulation":[112],"results":[113],"present":[114],"that":[115],"proposed":[117]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}