{"id":"https://openalex.org/W2790695274","doi":"https://doi.org/10.1109/robio.2017.8324739","title":"Shape changing locomotion by spiny multipedal robot","display_name":"Shape changing locomotion by spiny multipedal robot","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2790695274","doi":"https://doi.org/10.1109/robio.2017.8324739","mag":"2790695274"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324739","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":"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/A5080434970","display_name":"Hiroki Nozaki","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141715","display_name":"Keio University Shonan Fujisawa","ror":"https://ror.org/047khpn70","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210141715"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Nozaki","raw_affiliation_strings":["Graduate School of Media and Governance, Keio University, Fujisawa, Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Media and Governance, Keio University, Fujisawa, Kanagawa, Japan","institution_ids":["https://openalex.org/I4210141715"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059653874","display_name":"Ryuma Niiyama","orcid":"https://orcid.org/0000-0002-9072-8251"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryuma Niiyama","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083114149","display_name":"Takuro Yonezawa","orcid":"https://orcid.org/0000-0001-9781-0402"},"institutions":[{"id":"https://openalex.org/I4210141715","display_name":"Keio University Shonan Fujisawa","ror":"https://ror.org/047khpn70","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210141715"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuro Yonezawa","raw_affiliation_strings":["Graduate School of Media and Governance, Keio University, Fujisawa, Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Media and Governance, Keio University, Fujisawa, Kanagawa, Japan","institution_ids":["https://openalex.org/I4210141715"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085786840","display_name":"Jin Nakazawa","orcid":"https://orcid.org/0000-0001-9718-4552"},"institutions":[{"id":"https://openalex.org/I4210141715","display_name":"Keio University Shonan Fujisawa","ror":"https://ror.org/047khpn70","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210141715"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jin Nakazawa","raw_affiliation_strings":["Faculty of Environment and Information Studies, Keio University, Fujisawa, Kanagawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Environment and Information Studies, Keio University, Fujisawa, Kanagawa, Japan","institution_ids":["https://openalex.org/I4210141715"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2162","last_page":"2166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9988999962806702,"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/T11870","display_name":"Structural Analysis and Optimization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/actuator","display_name":"Actuator","score":0.7999052405357361},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7728849053382874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5357481837272644},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4732777774333954},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4128158688545227},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3840554356575012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3677637577056885},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3244410753250122},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3112420439720154},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0969131588935852},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07479768991470337}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7999052405357361},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7728849053382874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357481837272644},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4732777774333954},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4128158688545227},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3840554356575012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3677637577056885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3244410753250122},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3112420439720154},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0969131588935852},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07479768991470337},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324739","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335125","display_name":"RIKEN","ror":"https://ror.org/01sjwvz98"},{"id":"https://openalex.org/F4320335839","display_name":"National Institute of Information and Communications Technology","ror":"https://ror.org/016bgq349"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1544042259","https://openalex.org/W1590980019","https://openalex.org/W1822001265","https://openalex.org/W1976587447","https://openalex.org/W2008614211","https://openalex.org/W2025099946","https://openalex.org/W2051599285","https://openalex.org/W2077705453","https://openalex.org/W2101572710","https://openalex.org/W2103751425","https://openalex.org/W2108293808","https://openalex.org/W2123066741","https://openalex.org/W2123261982","https://openalex.org/W2146947104","https://openalex.org/W2165530525","https://openalex.org/W2610722324","https://openalex.org/W6737372219"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W2967125373","https://openalex.org/W2063875960"],"abstract_inverted_index":{"The":[0,47,59,97],"use":[1],"of":[2,12,43,50,62,71,84,100,106,114],"geometric":[3],"is":[4,53],"an":[5],"alternative":[6],"framework":[7],"for":[8,76],"robotic":[9],"locomotion":[10],"instead":[11],"animal-inspired":[13],"structures.":[14],"We":[15,29,78,118,140,154],"propose":[16],"a":[17,31,38,54,68,104,112,133],"spiny,":[18],"multi-pedal":[19],"robot":[20,52,122,145],"that":[21,36,120,143],"uses":[22],"radial":[23,60],"linear":[24],"actuators":[25,66],"as":[26],"the":[27,51,63,81,85,89,95,101,121,144],"legs.":[28],"developed":[30],"unique":[32],"telescopic":[33,64],"slide":[34,65],"actuator":[35,86,102],"has":[37,103],"stroke":[39],"up":[40],"to":[41,87,91,130,132],"250%":[42],"its":[44,128],"minimum":[45],"length.":[46],"default":[48],"form":[49],"sphere":[55],"with":[56,123,151],"variable":[57],"diameters.":[58],"arrangement":[61],"allows":[67],"large":[69],"range":[70],"shape":[72,129],"transformation":[73],"and":[74,93,109,137,160],"processes":[75],"rolling.":[77],"first":[79],"show":[80,142],"basic":[82],"properties":[83],"verify":[88],"ability":[90],"elevate":[92],"propel":[94],"body.":[96],"single":[98],"module":[99],"weight":[105],"0.4":[107],"kg":[108],"can":[110,126,146],"output":[111],"force":[113],"25":[115],"N":[116],"maximum.":[117],"demonstrate":[119],"twelve":[124],"spines":[125],"change":[127],"adapt":[131],"level":[134,149],"ground,":[135],"wall,":[136],"rocky":[138],"surfaces.":[139],"also":[141],"roll":[147],"on":[148],"ground":[150],"triangle-based":[152],"strides.":[153],"expect":[155],"further":[156],"applications":[157],"in":[158],"surveillance":[159],"unmanned":[161],"exploration.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
