{"id":"https://openalex.org/W2127191486","doi":"https://doi.org/10.1109/robot.2005.1570573","title":"Polychaete-like Undulatory Robotic Locomotion","display_name":"Polychaete-like Undulatory Robotic Locomotion","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2127191486","doi":"https://doi.org/10.1109/robot.2005.1570573","mag":"2127191486"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5048138738","display_name":"Dimitris P. Tsakiris","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121775","display_name":"FORTH Institute of Computer Science","ror":"https://ror.org/02tf48g55","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210121775","https://openalex.org/I8901234"]},{"id":"https://openalex.org/I4210127348","display_name":"FORTH Institute of Electronic Structure and Laser","ror":"https://ror.org/02a3mhk13","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210127348","https://openalex.org/I8901234"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"D.P. Tsakiris","raw_affiliation_strings":["Institute of Computer Science-Forth, Heraklion, Greece","Institute of Computer Science \u2013 FORTH Vassilika Vouton, P.O. Box 1385 GR-71110 Heraklion, Greece; tsakiris@ics.forth.gr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science-Forth, Heraklion, Greece","institution_ids":["https://openalex.org/I4210127348"]},{"raw_affiliation_string":"Institute of Computer Science \u2013 FORTH Vassilika Vouton, P.O. Box 1385 GR-71110 Heraklion, Greece; tsakiris@ics.forth.gr","institution_ids":["https://openalex.org/I4210121775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041355527","display_name":"Michael Sfakiotakis","orcid":"https://orcid.org/0000-0001-7723-193X"},"institutions":[{"id":"https://openalex.org/I4210121775","display_name":"FORTH Institute of Computer Science","ror":"https://ror.org/02tf48g55","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210121775","https://openalex.org/I8901234"]},{"id":"https://openalex.org/I4210127348","display_name":"FORTH Institute of Electronic Structure and Laser","ror":"https://ror.org/02a3mhk13","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210127348","https://openalex.org/I8901234"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"M. Sfakiotakis","raw_affiliation_strings":["Institute of Computer Science-Forth, Heraklion, Greece","tsakiris@ics.forth.gr"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science-Forth, Heraklion, Greece","institution_ids":["https://openalex.org/I4210127348"]},{"raw_affiliation_string":"tsakiris@ics.forth.gr","institution_ids":["https://openalex.org/I4210121775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Menciassi","raw_affiliation_strings":["CRIM Laboratory-Scuola Superiore Sant'Anna, Pisa, Italy","[ CRIM Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRIM Laboratory-Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[ CRIM Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy]","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072897403","display_name":"G. La Spina","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. la Spina","raw_affiliation_strings":["CRIM Laboratory-Scuola Superiore Sant'Anna, Pisa, Italy","[ CRIM Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRIM Laboratory-Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[ CRIM Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy]","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Dario","raw_affiliation_strings":["CRIM Laboratory-Scuola Superiore Sant'Anna, Pisa, Italy","[ CRIM Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRIM Laboratory-Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[ CRIM Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy]","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3018","last_page":"3023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987000226974487,"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":0.9987000226974487,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9970999956130981,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9968000054359436,"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/polychaete","display_name":"Polychaete","score":0.8364735245704651},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.7536051273345947},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.606010377407074},{"id":"https://openalex.org/keywords/rowing","display_name":"Rowing","score":0.6023868918418884},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4548133611679077},{"id":"https://openalex.org/keywords/appendage","display_name":"Appendage","score":0.45100322365760803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41573044657707214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41089892387390137},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.40560096502304077},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3163583278656006},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3042203187942505},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.23877355456352234},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.20948249101638794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1594129204750061},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10275459289550781}],"concepts":[{"id":"https://openalex.org/C2781123465","wikidata":"https://www.wikidata.org/wiki/Q18952","display_name":"Polychaete","level":2,"score":0.8364735245704651},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7536051273345947},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.606010377407074},{"id":"https://openalex.org/C2780366628","wikidata":"https://www.wikidata.org/wiki/Q21368803","display_name":"Rowing","level":2,"score":0.6023868918418884},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4548133611679077},{"id":"https://openalex.org/C41451933","wikidata":"https://www.wikidata.org/wiki/Q13415392","display_name":"Appendage","level":2,"score":0.45100322365760803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41573044657707214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41089892387390137},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.40560096502304077},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3163583278656006},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3042203187942505},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.23877355456352234},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.20948249101638794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1594129204750061},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10275459289550781},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2005.1570573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.134.7455","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.134.7455","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ics.forth.gr/~tsakiris/Papers/ICRA_2005_proc.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.152.6939","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.152.6939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ics.forth.gr/cvrl/publications/conferences/ICRA_2005_subm.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8600000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1499888913","https://openalex.org/W1524590822","https://openalex.org/W1573670163","https://openalex.org/W1799456518","https://openalex.org/W1837437011","https://openalex.org/W1966086223","https://openalex.org/W1975688214","https://openalex.org/W1982628820","https://openalex.org/W1992192651","https://openalex.org/W1999787532","https://openalex.org/W2008949258","https://openalex.org/W2010050675","https://openalex.org/W2019575952","https://openalex.org/W2052186030","https://openalex.org/W2055315817","https://openalex.org/W2068025676","https://openalex.org/W2068793240","https://openalex.org/W2093937828","https://openalex.org/W2120894630","https://openalex.org/W2122033411","https://openalex.org/W2123431998","https://openalex.org/W2137150948","https://openalex.org/W2144026911","https://openalex.org/W2146259039","https://openalex.org/W2168838142","https://openalex.org/W2415083578","https://openalex.org/W4251786266","https://openalex.org/W4252184929","https://openalex.org/W4254566809","https://openalex.org/W6638156753","https://openalex.org/W6678176261"],"related_works":["https://openalex.org/W4248685211","https://openalex.org/W2550522073","https://openalex.org/W2035960230","https://openalex.org/W2167205135","https://openalex.org/W4377002743","https://openalex.org/W2327116497","https://openalex.org/W1982374415","https://openalex.org/W1601312537","https://openalex.org/W2360975143","https://openalex.org/W2330090381"],"abstract_inverted_index":{"Polychaete":[0],"annelid":[1],"worms":[2],"provide":[3],"a":[4,16,41],"biological":[5],"paradigm":[6],"of":[7,19,31,40,44,52,62,75,82,96,119,127],"versatile":[8],"locomotion":[9,30],"and":[10,65,78,88],"effective":[11],"motion":[12],"control,":[13],"adaptable":[14],"to":[15],"large":[17],"variety":[18],"unstructured":[20],"environmental":[21],"conditions":[22],"(water,":[23],"sand,":[24],"mud,":[25],"sediment,":[26],"etc.).":[27],"The":[28],"undulatory":[29,97,107],"their":[32,58],"segmented":[33],"body":[34,46],"is":[35,122],"characterized":[36,123],"by":[37,124],"the":[38,49,72,76,86,94,117,133],"combination":[39],"unique":[42],"form":[43],"tail-to-head":[45],"undulations,":[47],"with":[48,85,132],"rowing-like":[50],"action":[51],"numerous":[53],"lateral":[54],"appendages":[55],"distributed":[56],"along":[57],"body.":[59],"Computational":[60],"models":[61,81],"polychaete-like":[63],"crawling":[64],"swimming":[66],"have":[67,103],"been":[68,104],"developed,":[69,105],"based":[70],"on":[71,79,111],"Lagrangian":[73],"dynamics":[74],"system":[77],"resistive":[80],"its":[83],"interaction":[84],"environment,":[87],"used":[89],"for":[90],"simulation":[91],"studies":[92],"demonstrating":[93],"generation":[95],"gaits.":[98],"Several":[99],"lightweight":[100],"robotic":[101],"prototypes":[102],"whose":[106],"actuation":[108],"achieves":[109],"propulsion":[110,118],"sand.":[112],"Extensive":[113],"experiments":[114],"demonstrate":[115],"that":[116],"these":[120],"robots":[121],"essential":[125],"features":[126],"polychaete":[128],"locomotion,":[129],"in":[130],"agreement":[131],"corresponding":[134],"simulations.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
