{"id":"https://openalex.org/W4408222767","doi":"https://doi.org/10.1109/robio64047.2024.10907340","title":"Reconfigurable Hexapod-Serpentine Biomimetic Robot: Design and Experiments","display_name":"Reconfigurable Hexapod-Serpentine Biomimetic Robot: Design and Experiments","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408222767","doi":"https://doi.org/10.1109/robio64047.2024.10907340"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5107791450","display_name":"Zeyi Li","orcid":"https://orcid.org/0000-0002-2823-7320"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyi Li","raw_affiliation_strings":["School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104082750","display_name":"Yang Bai","orcid":"https://orcid.org/0009-0004-7730-5678"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Bai","raw_affiliation_strings":["School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073292294","display_name":"Yu Guo","orcid":"https://orcid.org/0000-0002-0592-5323"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Guo","raw_affiliation_strings":["School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091521253","display_name":"Shutao Zhang","orcid":"https://orcid.org/0000-0003-0853-9281"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shutao Zhang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110180311","display_name":"Liang Han","orcid":"https://orcid.org/0000-0001-7779-0280"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Han","raw_affiliation_strings":["School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065070166","display_name":"Yun\u2010Zhi Huang","orcid":"https://orcid.org/0009-0000-1883-0211"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhi Huang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Hefei University of Technology,Hefei,China,2300009","institution_ids":["https://openalex.org/I16365422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1470","last_page":"1475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9933000206947327,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9901000261306763,"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/hexapod","display_name":"Hexapod","score":0.9896389245986938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6352964639663696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5537697076797485},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3464773893356323},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3271753787994385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2040833830833435}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9896389245986938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6352964639663696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5537697076797485},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3464773893356323},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3271753787994385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2040833830833435}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2904627071","display_name":null,"funder_award_id":"62273129,62203147","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3789710121","display_name":null,"funder_award_id":"JZ2024HGTB0225","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1753057598","https://openalex.org/W2134167019","https://openalex.org/W2169712669","https://openalex.org/W2911087563","https://openalex.org/W3010768390","https://openalex.org/W3039737909","https://openalex.org/W3084949195","https://openalex.org/W4283837926","https://openalex.org/W4306736509","https://openalex.org/W4386251972","https://openalex.org/W6922365620"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W138543751","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128"],"abstract_inverted_index":{"With":[0],"the":[1,29,36,66,93],"development":[2],"of":[3,26],"robotics":[4],"technology,":[5],"traditional":[6],"single-mode":[7],"robots":[8],"struggle":[9],"to":[10,12,28,47,86],"adapt":[11],"complex":[13,30,104],"environments.":[14,31],"To":[15,59],"address":[16],"this":[17],"challenge,":[18],"we":[19,68,82],"develop":[20],"a":[21,41,84],"multi-modal":[22],"reconfigurable":[23,42],"robot":[24,95],"capable":[25],"adapting":[27],"The":[32],"robot,":[33],"known":[34],"as":[35],"Hexapod-Serpentine":[37],"Biomimetic":[38],"Robot(HSBR),":[39],"features":[40],"interface":[43],"that":[44,92],"allows":[45],"it":[46],"perform":[48],"various":[49],"tasks,":[50],"including":[51],"mobility,":[52],"operational":[53],"functions,":[54],"and":[55,62,77,101],"narrow":[56],"pipeline":[57],"detection.":[58],"achieve":[60],"independent":[61],"combined":[63],"movements":[64],"in":[65,99,103],"HSBR,":[67],"implemented":[69],"hexapod":[70],"triangular":[71],"gait":[72,75],"planning,":[73,76],"meandering":[74],"mobile":[78],"grasping":[79],"operations.":[80],"Additionally,":[81],"designed":[83,94],"controller":[85],"manage":[87],"these":[88],"functions.":[89],"Results":[90],"show":[91],"has":[96],"good":[97],"performance":[98],"detection":[100],"manipulation":[102],"terrains.":[105]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
