{"id":"https://openalex.org/W2290620327","doi":"https://doi.org/10.1109/robio.2015.7418816","title":"Effects of compliant and flexible trunks on peak-power of a lizard-inspired robot","display_name":"Effects of compliant and flexible trunks on peak-power of a lizard-inspired robot","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2290620327","doi":"https://doi.org/10.1109/robio.2015.7418816","mag":"2290620327"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5080883308","display_name":"Xiaoyi Gu","orcid":"https://orcid.org/0000-0003-4257-3555"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaoyi Gu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061915609","display_name":"Zhao Guo","orcid":"https://orcid.org/0000-0002-4224-8595"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhao Guo","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051574941","display_name":"Yuxin Peng","orcid":"https://orcid.org/0000-0002-8121-4814"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuxin Peng","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030222911","display_name":"Chen Gong","orcid":"https://orcid.org/0000-0002-4092-9856"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gong Chen","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"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":3,"citation_normalized_percentile":{"value":0.1354223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"173","issue":null,"first_page":"493","last_page":"498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9901999831199646,"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/crawling","display_name":"Crawling","score":0.9459193348884583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8166089653968811},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5789722204208374},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5762152671813965},{"id":"https://openalex.org/keywords/lizard","display_name":"Lizard","score":0.5246104001998901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4996178150177002},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.48981162905693054},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4887056350708008},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4560813903808594},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4190581440925598},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30443108081817627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2540894150733948},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.243221253156662},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23791900277137756},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19328653812408447},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12733212113380432},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.11722075939178467},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.092919260263443},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.08019274473190308}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9459193348884583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8166089653968811},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5789722204208374},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5762152671813965},{"id":"https://openalex.org/C2777871726","wikidata":"https://www.wikidata.org/wiki/Q15879","display_name":"Lizard","level":2,"score":0.5246104001998901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4996178150177002},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.48981162905693054},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4887056350708008},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4560813903808594},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4190581440925598},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30443108081817627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2540894150733948},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.243221253156662},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23791900277137756},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19328653812408447},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12733212113380432},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.11722075939178467},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.092919260263443},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.08019274473190308},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/7","score":0.41999998688697815,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W100598078","https://openalex.org/W1848396696","https://openalex.org/W1969962193","https://openalex.org/W1988274707","https://openalex.org/W2003653926","https://openalex.org/W2029228164","https://openalex.org/W2043977816","https://openalex.org/W2059242862","https://openalex.org/W2066478339","https://openalex.org/W2084772888","https://openalex.org/W2094496385","https://openalex.org/W2098329609","https://openalex.org/W2120175220","https://openalex.org/W2125779054","https://openalex.org/W2129287493","https://openalex.org/W2151431293","https://openalex.org/W2164558688","https://openalex.org/W2313481385"],"related_works":["https://openalex.org/W2942196653","https://openalex.org/W2998506550","https://openalex.org/W1972877171","https://openalex.org/W2188053476","https://openalex.org/W2169712669","https://openalex.org/W4390135167","https://openalex.org/W2599193808","https://openalex.org/W2321283884","https://openalex.org/W4289731088","https://openalex.org/W103329565"],"abstract_inverted_index":{"Many":[0],"physical":[1],"biological":[2],"properties":[3],"can":[4],"be":[5],"used":[6],"to":[7,35,59,77,92],"improve":[8],"bio-inspired":[9,56],"robot":[10,66,74,106],"design.":[11],"However,":[12],"the":[13,20,37,45,61,79,94,103,122,125,128,136,140],"effects":[14,38],"of":[15,22,39,47,63,84,124,139],"trunks'":[16],"flexibility":[17],"on":[18,44],"improving":[19],"performance":[21],"legged":[23],"robots":[24],"have":[25],"not":[26],"been":[27],"fully":[28],"investigated.":[29],"In":[30],"this":[31],"study,":[32],"we":[33,119],"aim":[34],"investigate":[36],"compliant":[40,71,109],"and":[41,70,87,110,127],"flexible":[42,69,111],"trunks":[43],"peak-power":[46],"a":[48,55,64,68,108],"lizard-inspired":[49,104],"crawling":[50,65,81,105],"robot.":[51],"We":[52,100],"first":[53],"developed":[54],"lizard":[57],"model":[58],"guide":[60],"design":[62],"with":[67,107],"trunk.":[72],"This":[73],"is":[75],"able":[76],"mimic":[78],"basic":[80],"gait":[82],"pattern":[83],"lizards.":[85],"Simulations":[86],"experiments":[88],"were":[89],"then":[90],"performed":[91],"assess":[93],"motor":[95],"power":[96],"under":[97],"various":[98],"conditions.":[99],"found":[101,120],"that":[102,121],"trunk":[112,126],"exhibited":[113],"significantly":[114],"reduced":[115],"peak-power.":[116,141],"More":[117],"interestingly,":[118],"stiffness":[123],"motion":[129],"frequency":[130],"are":[131],"two":[132],"key":[133],"variables":[134],"affecting":[135],"reduction":[137],"rate":[138]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
