{"id":"https://openalex.org/W2791399604","doi":"https://doi.org/10.1109/robio.2017.8324550","title":"High-speed and energy-efficient locomotion of a seed-like underactuated robot on level surface by utilizing asymmetric wobbling effects","display_name":"High-speed and energy-efficient locomotion of a seed-like underactuated robot on level surface by utilizing asymmetric wobbling effects","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2791399604","doi":"https://doi.org/10.1109/robio.2017.8324550","mag":"2791399604"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5103096540","display_name":"Longchuan Li","orcid":"https://orcid.org/0000-0001-8242-8243"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Longchuan Li","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038629773","display_name":"Isao T. Tokuda","orcid":"https://orcid.org/0000-0001-6212-0022"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Isao Tokuda","raw_affiliation_strings":["Department of Mechanical Engineering, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.525,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66216525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1014","last_page":"1019"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"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":0.9986000061035156,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9976999759674072,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9950000047683716,"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/underactuation","display_name":"Underactuation","score":0.8728218674659729},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.7613040208816528},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7512848377227783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6568865776062012},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.586381733417511},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5080023407936096},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.49133482575416565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4708753824234009},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44957032799720764},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.42353302240371704},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4121142029762268},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27775049209594727},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22258326411247253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2092188596725464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18498536944389343},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15097156167030334},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07831168174743652}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8728218674659729},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7613040208816528},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7512848377227783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6568865776062012},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.586381733417511},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5080023407936096},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.49133482575416565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4708753824234009},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44957032799720764},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.42353302240371704},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4121142029762268},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27775049209594727},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22258326411247253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2092188596725464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18498536944389343},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15097156167030334},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07831168174743652},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1992116072","https://openalex.org/W2002709647","https://openalex.org/W2065361104","https://openalex.org/W2091275665","https://openalex.org/W2524963760","https://openalex.org/W2597174803","https://openalex.org/W2752266980"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2171573941","https://openalex.org/W587013945","https://openalex.org/W4317382653","https://openalex.org/W2156675815"],"abstract_inverted_index":{"It":[0],"was":[1],"clarified":[2],"that":[3],"forward":[4,70],"locomotion":[5,80],"of":[6,31,54,98],"a":[7,19,82],"seed-like":[8],"robot":[9,33,57,76],"on":[10,85],"level":[11],"road":[12],"surface":[13],"can":[14],"be":[15],"obtained":[16],"by":[17,34,58,71,109,127],"adding":[18],"2-DOF":[20],"active":[21],"wobbling":[22,37,41],"mass.":[23],"This":[24],"paper":[25],"improves":[26],"the":[27,32,46,51,55,63,86,89,95,104,117,121],"velocity":[28],"and":[29,49],"efficiency":[30,106],"utilizing":[35],"1-DOF":[36,118],"mass":[38],"with":[39],"asymmetric":[40,60,73],"effects.":[42],"First,":[43],"we":[44,101],"develope":[45],"mathematical":[47],"model":[48],"generate":[50],"rotation":[52,64],"motion":[53],"underactuated":[56],"applying":[59],"torque.":[61],"Second,":[62],"is":[65,92,107,124],"efficiently":[66],"utilized":[67],"to":[68],"move":[69],"introducing":[72],"friction.":[74],"The":[75],"therefore":[77],"achieves":[78],"high-speed":[79],"like":[81],"seal":[83],"crawling":[84],"beach.":[87],"Third,":[88],"nonlinear":[90],"dynamics":[91],"analyzed":[93],"from":[94],"synchronization":[96],"point":[97,123],"view.":[99],"Finally,":[100],"check":[102],"whether":[103],"motor":[105],"increased":[108],"our":[110,128],"proposed":[111,129],"methods.":[112,130],"Better":[113],"than":[114],"previous":[115],"studies,":[116],"underactuation":[119],"at":[120],"ground-contact":[122],"passively":[125],"controlled":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}