{"id":"https://openalex.org/W2104972052","doi":"https://doi.org/10.1109/robot.2008.4543750","title":"Adaptive reconfiguration of a modular robot through heterogeneous inter-module connections","display_name":"Adaptive reconfiguration of a modular robot through heterogeneous inter-module connections","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2104972052","doi":"https://doi.org/10.1109/robot.2008.4543750","mag":"2104972052"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://tohoku.repo.nii.ac.jp/record/25996/files/10.1109-ROBOT.2008.4543750.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031494263","display_name":"Masahiro Shimizu","orcid":"https://orcid.org/0000-0003-1160-1234"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masahiro Shimizu","raw_affiliation_strings":["Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011005510","display_name":"Takuma Kato","orcid":"https://orcid.org/0000-0003-2047-496X"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuma Kato","raw_affiliation_strings":["Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110857287","display_name":"Max Lungarella","orcid":null},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Max Lungarella","raw_affiliation_strings":["Artificial Intellience Laboratory, University of Zurich, Zurich, Switzerland","Artificial Intellience Laboratory, University of Zurich, 8050 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Artificial Intellience Laboratory, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Artificial Intellience Laboratory, University of Zurich, 8050 Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079413812","display_name":"Akio Ishiguro","orcid":"https://orcid.org/0000-0003-2850-0149"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akio Ishiguro","raw_affiliation_strings":["Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031494263"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.623,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74869059,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"437","issue":null,"first_page":"3527","last_page":"3532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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":1.0,"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/T12288","display_name":"Optimization and Search Problems","score":0.9740999937057495,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9624999761581421,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.8953246474266052},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.8230346441268921},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7802547812461853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6707628965377808},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6526981592178345},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.44192394614219666},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38488122820854187},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3111768066883087},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.29464191198349},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.26830512285232544},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.250810444355011},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0920059084892273}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.8953246474266052},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.8230346441268921},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7802547812461853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6707628965377808},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6526981592178345},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.44192394614219666},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38488122820854187},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3111768066883087},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.29464191198349},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26830512285232544},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.250810444355011},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0920059084892273}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2008.4543750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:irdb.nii.ac.jp:00918:0000471276","is_oa":true,"landing_page_url":"https://tohoku.repo.nii.ac.jp/records/25996","pdf_url":"https://tohoku.repo.nii.ac.jp/record/25996/files/10.1109-ROBOT.2008.4543750.pdf","source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation proceedings","raw_type":"journal article"},{"id":"pmh:oai:www.zora.uzh.ch:9424","is_oa":false,"landing_page_url":"https://www.zora.uzh.ch/9424","pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Shimizu, M; Kato, T; Lungarella, M; Ishiguro, A  (2008). Adaptive reconfiguration of a modular robot through heterogeneous inter-module connections.  In: IEEE Int. Conf. on Robotics and Automation, Pasadena, CA, USA, 19 May 2008 - 23 May 2008, 3527-3532.","raw_type":"Conference or Workshop Item"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:00918:0000471276","is_oa":true,"landing_page_url":"https://tohoku.repo.nii.ac.jp/records/25996","pdf_url":"https://tohoku.repo.nii.ac.jp/record/25996/files/10.1109-ROBOT.2008.4543750.pdf","source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation proceedings","raw_type":"journal article"},"sustainable_development_goals":[{"score":0.8799999952316284,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2104972052.pdf","grobid_xml":"https://content.openalex.org/works/W2104972052.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W1585577797","https://openalex.org/W1977973890","https://openalex.org/W2002785668","https://openalex.org/W2033814129","https://openalex.org/W2059883008","https://openalex.org/W2124599979","https://openalex.org/W2140393503","https://openalex.org/W2159044714","https://openalex.org/W2171103767","https://openalex.org/W2294959121","https://openalex.org/W2325485964","https://openalex.org/W2517068784"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W2720417647","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W4225163935","https://openalex.org/W2064761790","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614"],"abstract_inverted_index":{"Modular":[0],"robots":[1],"are":[2],"mechatronic":[3],"systems":[4],"that":[5,84,106],"can":[6],"rearrange":[7],"their":[8],"connectivity":[9],"to":[10,14,42,97,108,119],"create":[11],"new":[12],"topologies":[13],"accomplish":[15],"diverse":[16],"tasks.":[17],"In":[18],"previous":[19],"work,":[20],"we":[21,57],"have":[22],"studied":[23],"a":[24,31,46,85],"modular":[25],"reconfigurable":[26],"robot":[27],"(Slimebot)":[28],"characterized":[29],"by":[30,111],"spontaneous":[32],"inter-module":[33,63],"connection":[34],"control":[35],"mechanism.":[36],"The":[37,103],"modules":[38],"of":[39,61,69,75,88,93,100],"Slimebot":[40,70],"connect":[41],"each":[43],"other":[44],"via":[45],"functional":[47],"material":[48],"which":[49],"satisfies":[50],"physical":[51],"coupling":[52,64],"between":[53],"the":[54,59,67,91,94,98,112],"ones.":[55],"Here,":[56],"investigate":[58],"effect":[60],"heterogeneous":[62,115],"strengths":[65],"on":[66],"adaptivity":[68,92],"(here":[71],"measured":[72],"in":[73],"terms":[74],"structural":[76],"stability":[77],"and":[78],"locomotive":[79],"speed).":[80],"Simulation":[81],"results":[82],"show":[83],"certain":[86],"amount":[87],"heterogeneity":[89],"improves":[90],"system":[95,113],"compared":[96],"case":[99],"homogeneous":[101],"modules.":[102],"only":[104],"assumption":[105],"needs":[107],"be":[109],"satisfied":[110],"with":[114],"couplings":[116],"is":[117],"compliance":[118],"Steinberg\u2019s":[120],"energy":[121],"minimization":[122],"theory.":[123]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
