{"id":"https://openalex.org/W2592790044","doi":"https://doi.org/10.1109/robio.2016.7866597","title":"Virtual functional segmentation of snake robots for perception-driven obstacle-aided locomotion?","display_name":"Virtual functional segmentation of snake robots for perception-driven obstacle-aided locomotion?","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2592790044","doi":"https://doi.org/10.1109/robio.2016.7866597","mag":"2592790044"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5087578160","display_name":"Filippo Sanfilippo","orcid":"https://orcid.org/0000-0002-1437-8368"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Filippo Sanfilippo","raw_affiliation_strings":["Dept. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056959397","display_name":"\u00d8yvind Stavdahl","orcid":"https://orcid.org/0000-0003-0212-3146"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Oyvind Stavdahl","raw_affiliation_strings":["Dept. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006335697","display_name":"Giancarlo Marafioti","orcid":"https://orcid.org/0000-0002-7932-7633"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Giancarlo Marafioti","raw_affiliation_strings":["Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073872424","display_name":"Aksel A. Transeth","orcid":"https://orcid.org/0009-0007-9440-8515"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Aksel A. Transeth","raw_affiliation_strings":["Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029922227","display_name":"P\u00e5l Liljeb\u00e4ck","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Pal Liljeback","raw_affiliation_strings":["Dept. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0502,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.78151489,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1845","last_page":"1851"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9993000030517578,"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/robot","display_name":"Robot","score":0.7388052940368652},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6735951900482178},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6648997068405151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.60746830701828},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.6017967462539673},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5059685111045837},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5005173683166504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4925261437892914},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47119852900505066},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41121456027030945},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.382880300283432},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3714398443698883},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3411935567855835},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3379964828491211}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7388052940368652},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6735951900482178},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6648997068405151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.60746830701828},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.6017967462539673},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5059685111045837},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5005173683166504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4925261437892914},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47119852900505066},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41121456027030945},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.382880300283432},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3714398443698883},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3411935567855835},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3379964828491211},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2016.7866597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W1573670163","https://openalex.org/W1587405368","https://openalex.org/W1964629068","https://openalex.org/W1974406075","https://openalex.org/W1991564918","https://openalex.org/W2002392565","https://openalex.org/W2030549840","https://openalex.org/W2097384366","https://openalex.org/W2099428832","https://openalex.org/W2123297103","https://openalex.org/W2129165027","https://openalex.org/W2156174987","https://openalex.org/W2169629082","https://openalex.org/W2585248669","https://openalex.org/W2602945460","https://openalex.org/W3172424995","https://openalex.org/W6736068882"],"related_works":["https://openalex.org/W1986528036","https://openalex.org/W2147396393","https://openalex.org/W4288391438","https://openalex.org/W1753057598","https://openalex.org/W2390901339","https://openalex.org/W1529218112","https://openalex.org/W3180450194","https://openalex.org/W2291700020","https://openalex.org/W2169629082","https://openalex.org/W2997199187"],"abstract_inverted_index":{"Snake":[0],"robots":[1],"equipped":[2],"with":[3,69,122],"sensors":[4],"and":[5,18,40,46,140,146,212,219],"tools":[6],"could":[7],"potentially":[8],"contribute":[9],"to":[10,43,51,67,144,208,223],"applications":[11],"such":[12],"as":[13,132,230],"fire-fighting,":[14],"industrial":[15],"inspection,":[16],"search-and-rescue":[17],"more.":[19],"Such":[20],"capabilities":[21],"would":[22],"require":[23],"that":[24,73,162],"a":[25,29,60,70,87,117,137,149,171,224,240],"snake":[26,62,92,110,190,249],"robot":[27,63,111,164],"has":[28],"high":[30],"degree":[31],"of":[32,34,80,90,105,119,134,136,156,181,186,188,194,198,215,227],"awareness":[33],"its":[35,49],"surroundings":[36],"(i.e.":[37,54],"perception-driven":[38,81,245],"locomotion)":[39],"is":[41,65,99,113,161,239],"able":[42],"exploit":[44],"objects":[45],"irregularities":[47],"in":[48,206],"environment":[50],"gain":[52],"propulsion":[53],"obstacle-aided":[55,82,246],"locomotion).":[56],"In":[57],"this":[58],"work,":[59],"simplified":[61],"model":[64],"proposed":[66,158],"deal":[68],"lower-dimensional":[71,172],"system":[72],"allows":[74],"for":[75,174,248],"establishing":[76],"the":[77,91,103,123,157,163,179,182,189,192,195,199,213,216,234],"foundation":[78],"elements":[79],"locomotion.":[83],"To":[84],"achieve":[85],"this,":[86],"virtual":[88,95,106],"partitioning":[89],"into":[93,170],"parametrised":[94,200],"functional":[96,196],"segments":[97],"(VFS)":[98],"presented":[100],"based":[101],"on":[102],"concept":[104,177],"constraints":[107],"(VC).":[108],"The":[109,153,202],"body":[112],"approximated":[114],"by":[115,191],"using":[116],"chain":[118],"continuous":[120],"curves":[121],"fewest":[124],"possible":[125],"parameters.":[126],"These":[127],"parameters":[128],"can":[129,167],"be":[130,142,168],"treated":[131],"degrees":[133,185],"freedom":[135,187],"\u201cconstrained":[138],"system\u201d":[139],"consequently":[141],"subjected":[143],"modelling":[145],"control":[147],"at":[148],"higher":[150],"abstraction":[151],"level.":[152],"main":[154],"contribution":[155],"conceptual":[159],"approach":[160],"joint":[165],"space":[166,173,210],"reduced":[169],"articulation.":[175],"This":[176,237],"replaces":[178],"analysis":[180,193],"individual":[183],"mechanical":[184],"roles":[197,214],"VFS.":[201],"VFS":[203],"are":[204],"defined":[205,225],"relation":[207],"task":[209],"coordinates,":[211],"physical":[217],"links":[218],"joints":[220],"change":[221],"according":[222],"set":[226],"transition":[228],"events":[229],"they":[231],"move":[232],"along":[233],"robot's":[235],"path.":[236],"method":[238],"preliminary":[241],"step":[242],"towards":[243],"realising":[244],"locomotion":[247],"robots.":[250]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
