{"id":"https://openalex.org/W2138939375","doi":"https://doi.org/10.1109/robot.2009.5152273","title":"Modelling and control of obstacle-aided snake robot locomotion based on jam resolution","display_name":"Modelling and control of obstacle-aided snake robot locomotion based on jam resolution","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2138939375","doi":"https://doi.org/10.1109/robot.2009.5152273","mag":"2138939375"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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":"http://hdl.handle.net/11250/286686","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029922227","display_name":"P\u00e5l Liljeb\u00e4ck","orcid":null},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]},{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"P. Liljeback","raw_affiliation_strings":["Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]},{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055872448","display_name":"Kristin Y. Pettersen","orcid":"https://orcid.org/0000-0002-3897-0315"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"K.Y. Pettersen","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056959397","display_name":"\u00d8yvind Stavdahl","orcid":"https://orcid.org/0000-0003-0212-3146"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"O. Stavdahl","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029922227"],"corresponding_institution_ids":["https://openalex.org/I173888879","https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":1.6033,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.83599901,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3807","last_page":"3814"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.996999979019165,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8098481893539429},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7238137722015381},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7124971747398376},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6653706431388855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.590851366519928},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.564777672290802},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5321948528289795},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5180971026420593},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.4660545289516449},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42394891381263733},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3775615096092224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3637534976005554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33900803327560425},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.329862505197525},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32285699248313904},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3140799403190613},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15706777572631836},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11384397745132446},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06432661414146423}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8098481893539429},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7238137722015381},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7124971747398376},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6653706431388855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.590851366519928},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.564777672290802},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5321948528289795},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5180971026420593},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.4660545289516449},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42394891381263733},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3775615096092224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3637534976005554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33900803327560425},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.329862505197525},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32285699248313904},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3140799403190613},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15706777572631836},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11384397745132446},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06432661414146423},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"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":2,"locations":[{"id":"doi:10.1109/robot.2009.5152273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/286686","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/286686","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"3807-3814","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:brage.bibsys.no:11250/286686","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/286686","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"3807-3814","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W198676126","https://openalex.org/W1483671126","https://openalex.org/W1573670163","https://openalex.org/W1898305668","https://openalex.org/W1939016165","https://openalex.org/W1974406075","https://openalex.org/W2012847731","https://openalex.org/W2022266955","https://openalex.org/W2099428832","https://openalex.org/W2099761232","https://openalex.org/W2107620445","https://openalex.org/W2117832310","https://openalex.org/W2123431998","https://openalex.org/W2135099648","https://openalex.org/W2143030465","https://openalex.org/W2146418849","https://openalex.org/W2158833162","https://openalex.org/W2163160559","https://openalex.org/W2519869656","https://openalex.org/W6639814540"],"related_works":["https://openalex.org/W2147396393","https://openalex.org/W4288391438","https://openalex.org/W2897073283","https://openalex.org/W1753057598","https://openalex.org/W2390901339","https://openalex.org/W1529218112","https://openalex.org/W2139139490","https://openalex.org/W2291700020","https://openalex.org/W2169629082","https://openalex.org/W2117832310"],"abstract_inverted_index":{"A":[0],"snake":[1,25,60],"robot":[2,61],"can":[3],"traverse":[4],"cluttered":[5],"and":[6,45,78],"irregular":[7],"environments":[8],"by":[9],"using":[10],"irregularities":[11],"around":[12],"its":[13,68],"body":[14],"as":[15],"push-points":[16],"to":[17,53],"aid":[18],"the":[19,59,74,79,82],"propulsion.":[20],"This":[21,37],"characteristic":[22],"feature":[23],"of":[24,42,81],"locomotion,":[26,29],"denoted":[27],"obstacle-aided":[28],"has":[30],"received":[31],"limited":[32],"focus":[33],"in":[34,67],"previous":[35],"literature.":[36],"paper":[38],"presents":[39],"a":[40,46],"model":[41],"this":[43],"phenomenon":[44],"control":[47,84],"strategy":[48],"employing":[49],"measured":[50],"contact":[51,75],"forces":[52],"maintain":[54],"propulsion":[55],"while":[56],"simultaneously":[57],"preventing":[58],"from":[62],"being":[63],"jammed":[64],"between":[65],"obstacles":[66],"path.":[69],"The":[70],"simulation":[71],"results":[72],"validate":[73],"modelling":[76],"approach":[77],"effectiveness":[80],"proposed":[83],"strategy.":[85]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
