{"id":"https://openalex.org/W2080137084","doi":"https://doi.org/10.1109/robot.2010.5509673","title":"Optimal shape of a snake robot for jumping","display_name":"Optimal shape of a snake robot for jumping","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2080137084","doi":"https://doi.org/10.1109/robot.2010.5509673","mag":"2080137084"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5002224016","display_name":"Keiichi Hoshino","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keiichi Hoshino","raw_affiliation_strings":["University of Electro-Communications, Chofu, Tokyo, Japan","The University of Electro-Communications, Chofugaoka 1-5-1, Chofu, Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"The University of Electro-Communications, Chofugaoka 1-5-1, Chofu, Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005230351","display_name":"Motoyasu Tanaka","orcid":"https://orcid.org/0000-0002-3717-8852"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motoyasu Tanaka","raw_affiliation_strings":["University of Electro-Communications, Chofu, Tokyo, Japan","The University of Electro-Communications, Chofugaoka 1-5-1, Chofu, Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"The University of Electro-Communications, Chofugaoka 1-5-1, Chofu, Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Kyoto University, Sakyo, Kyoto, Japan","Kyoto University, yoshidahonmachi, sakyoku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Kyoto University, yoshidahonmachi, sakyoku, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"697","last_page":"702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9987000226974487,"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/constraint","display_name":"Constraint (computer-aided design)","score":0.8235454559326172},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.81273353099823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6731167435646057},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.5910155177116394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46402624249458313},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4511524736881256},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4463834762573242},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35552793741226196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2827625870704651},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17352986335754395},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16397368907928467},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14277485013008118},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07335928082466125}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.8235454559326172},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.81273353099823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6731167435646057},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.5910155177116394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46402624249458313},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4511524736881256},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4463834762573242},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35552793741226196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2827625870704651},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17352986335754395},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16397368907928467},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14277485013008118},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07335928082466125},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1898305668","https://openalex.org/W1959600285","https://openalex.org/W2015364224","https://openalex.org/W2061063863","https://openalex.org/W2089085306","https://openalex.org/W2100185492","https://openalex.org/W2103615905","https://openalex.org/W2117162889","https://openalex.org/W2118935785","https://openalex.org/W2151378713","https://openalex.org/W4242875786"],"related_works":["https://openalex.org/W2371136327","https://openalex.org/W4293234107","https://openalex.org/W2370549269","https://openalex.org/W2386824811","https://openalex.org/W2354618530","https://openalex.org/W648845647","https://openalex.org/W2081226903","https://openalex.org/W2363452175","https://openalex.org/W2375225935","https://openalex.org/W2131998656"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,22,43],"discuss":[4],"an":[5,45],"optimal":[6,50,76],"shape":[7,51,77],"of":[8,12,52,58,74],"the":[9,30,49,53,63,72,75,80],"grounded":[10,54],"part":[11,55],"a":[13,24,38,59],"snake":[14,60],"robot":[15,61],"with":[16],"passive":[17],"wheels":[18,31],"for":[19,29,48],"jumping.":[20],"First,":[21],"derive":[23],"relationship":[25],"between":[26],"constraint":[27,39,64],"forces":[28],"and":[32,36],"necessary":[33],"friction":[34],"forces,":[35],"propose":[37],"force":[40,65],"ellipse.":[41,66],"Next,":[42],"introduce":[44],"evaluation":[46],"index":[47],"(base":[56],"part)":[57],"using":[62],"Finally,":[67],"in":[68],"order":[69],"to":[70],"demonstrate":[71],"validity":[73],"that":[78],"minimizes":[79],"evolution":[81],"index,":[82],"simulations":[83],"have":[84],"been":[85],"carried":[86],"out.":[87]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
