{"id":"https://openalex.org/W2166089289","doi":"https://doi.org/10.1109/robot.2002.1014758","title":"Intelligent gait synthesizer for serpentine robots","display_name":"Intelligent gait synthesizer for serpentine robots","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2166089289","doi":"https://doi.org/10.1109/robot.2002.1014758","mag":"2166089289"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5027446546","display_name":"G.M. Kulali","orcid":null},"institutions":[{"id":"https://openalex.org/I56303344","display_name":"Aselsan (Turkey)","ror":"https://ror.org/04knh8e66","country_code":"TR","type":"company","lineage":["https://openalex.org/I56303344"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"G.M. Kulali","raw_affiliation_strings":["Simulation Systems, Havelsan Air Electronics Industry, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation Systems, Havelsan Air Electronics Industry, Ankara, Turkey","institution_ids":["https://openalex.org/I56303344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071997233","display_name":"M. Gevher","orcid":null},"institutions":[{"id":"https://openalex.org/I56303344","display_name":"Aselsan (Turkey)","ror":"https://ror.org/04knh8e66","country_code":"TR","type":"company","lineage":["https://openalex.org/I56303344"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"M. Gevher","raw_affiliation_strings":["ASELSAN Electronics Industry, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ASELSAN Electronics Industry, Ankara, Turkey","institution_ids":["https://openalex.org/I56303344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010484989","display_name":"Aydan M. Erkmen","orcid":"https://orcid.org/0000-0002-5194-1121"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"A.M. Erkmen","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010484989","display_name":"Aydan M. Erkmen","orcid":"https://orcid.org/0000-0002-5194-1121"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"I. Erkmen","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6185,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.92407043,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1513","last_page":"1518"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9970999956130981,"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":0.9970999956130981,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7985681295394897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6699696779251099},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6131187081336975},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4736683964729309},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3579321503639221},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3202245831489563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2813712954521179},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08985838294029236}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7985681295394897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6699696779251099},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6131187081336975},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4736683964729309},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3579321503639221},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3202245831489563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2813712954521179},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08985838294029236},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.75,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1675003565","https://openalex.org/W2099210720","https://openalex.org/W2158316397","https://openalex.org/W6637399162","https://openalex.org/W6674887781"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401","https://openalex.org/W2348727246"],"abstract_inverted_index":{"Develops":[0],"a":[1,6,29,33,58,65,72,80,109],"new":[2],"gait":[3,19,53,59,81,103,111,125],"synthesizer":[4,54],"for":[5],"snake-like":[7],"robot":[8,94],"in":[9],"an":[10,86,99],"unstructured":[11],"changing":[12,48],"environment":[13],"similar":[14],"to":[15],"earthquake":[16],"rubbles.":[17],"The":[18,52,105],"synthesizer,":[20],"inspired":[21],"from":[22,90,117],"the":[23,118,124],"GARIC":[24],"Architecture,":[25],"is":[26,55,76,108],"implemented":[27],"on":[28,64,71,85,102,127],"simulated":[30],"navigation":[31],"of":[32,57,67,93],"snake":[34],"robot.":[35],"We":[36],"consider":[37],"6":[38],"prototypical":[39,68],"gaits":[40,69],"classified":[41],"into":[42],"vertical":[43],"undulation,":[44,46],"lateral":[45],"heading":[47],"right/left,":[49],"flapping":[50],"right/left.":[51],"composed":[56],"selection":[60],"network":[61],"that":[62,88],"decides":[63],"combination":[66],"based":[70,84,126],"fuzzy":[73],"controller":[74],"which":[75,113],"further":[77],"tuned":[78],"by":[79],"evaluation":[82],"module":[83,107],"ANN":[87],"learns":[89],"prior":[91],"performances":[92],"locomotion":[95],"and":[96,122],"acts":[97],"as":[98],"arbiter":[100],"unit":[101],"performance.":[104],"third":[106],"stochastic":[110],"modifier,":[112],"takes":[114],"feedback":[115],"information":[116],"dynamic":[119],"robotic":[120],"system":[121],"changes":[123],"reinforcement":[128],"learning.":[129]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
