{"id":"https://openalex.org/W2136850967","doi":"https://doi.org/10.1109/sis.2008.4668286","title":"Swarm intelligence for self-reconfiguring walking robot","display_name":"Swarm intelligence for self-reconfiguring walking robot","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2136850967","doi":"https://doi.org/10.1109/sis.2008.4668286","mag":"2136850967"},"language":"en","primary_location":{"id":"doi:10.1109/sis.2008.4668286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sis.2008.4668286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Swarm Intelligence Symposium","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/A5050014940","display_name":"Bojan Jakimovski","orcid":"https://orcid.org/0009-0009-7385-1221"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Bojan Jakimovski","raw_affiliation_strings":["IEEE Swarm Intelligence Symposium, Saint Louis, MO, USA","Inst. of Comput. Eng., Univ. Lubeck, Lubeck"],"affiliations":[{"raw_affiliation_string":"IEEE Swarm Intelligence Symposium, Saint Louis, MO, USA","institution_ids":[]},{"raw_affiliation_string":"Inst. of Comput. Eng., Univ. Lubeck, Lubeck","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103240721","display_name":"Benjamin Meyer","orcid":"https://orcid.org/0000-0001-6629-8397"},"institutions":[{"id":"https://openalex.org/I4210129839","display_name":"Saint Louis Zoo","ror":"https://ror.org/03g0fjg84","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210129839"]},{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Benjamin Meyer","raw_affiliation_strings":["Saint Louis, MO, USA","Univ. Lubeck, Lubeck"],"affiliations":[{"raw_affiliation_string":"Saint Louis, MO, USA","institution_ids":["https://openalex.org/I4210129839"]},{"raw_affiliation_string":"Univ. Lubeck, Lubeck","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047630768","display_name":"Erik Maehle","orcid":null},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]},{"id":"https://openalex.org/I4210129839","display_name":"Saint Louis Zoo","ror":"https://ror.org/03g0fjg84","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210129839"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Erik Maehle","raw_affiliation_strings":["Saint Louis, MO, USA","Inst. of Comput. Eng., Univ. Lubeck, Lubeck"],"affiliations":[{"raw_affiliation_string":"Saint Louis, MO, USA","institution_ids":["https://openalex.org/I4210129839"]},{"raw_affiliation_string":"Inst. of Comput. Eng., Univ. Lubeck, Lubeck","institution_ids":["https://openalex.org/I9341345"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050014940"],"corresponding_institution_ids":["https://openalex.org/I9341345"],"apc_list":null,"apc_paid":null,"fwci":3.6562,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.92533277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9481592178344727},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.7990527153015137},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7700294256210327},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6952143907546997},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6748976707458496},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.653740644454956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6509779095649719},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6164324283599854},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5850372314453125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5848524570465088},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.509699821472168},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4422043263912201},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4104700982570648},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3449811339378357},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.2506447434425354},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.22698372602462769},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1370750367641449},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1120113730430603}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9481592178344727},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.7990527153015137},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7700294256210327},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6952143907546997},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6748976707458496},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.653740644454956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6509779095649719},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6164324283599854},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5850372314453125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5848524570465088},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.509699821472168},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4422043263912201},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4104700982570648},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3449811339378357},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2506447434425354},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.22698372602462769},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1370750367641449},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1120113730430603},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sis.2008.4668286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sis.2008.4668286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Swarm Intelligence Symposium","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W73158108","https://openalex.org/W148552177","https://openalex.org/W1503655620","https://openalex.org/W1524470902","https://openalex.org/W1563970480","https://openalex.org/W1573676079","https://openalex.org/W1587263632","https://openalex.org/W1968736168","https://openalex.org/W1981609420","https://openalex.org/W1991190417","https://openalex.org/W2019665943","https://openalex.org/W2027546131","https://openalex.org/W2028597523","https://openalex.org/W2029886676","https://openalex.org/W2042086772","https://openalex.org/W2069033749","https://openalex.org/W2072717564","https://openalex.org/W2075204460","https://openalex.org/W2075951245","https://openalex.org/W2077754651","https://openalex.org/W2105933141","https://openalex.org/W2112673739","https://openalex.org/W2116149242","https://openalex.org/W2118098761","https://openalex.org/W2126554879","https://openalex.org/W2136393817","https://openalex.org/W2150312211","https://openalex.org/W2150780886","https://openalex.org/W2152195021","https://openalex.org/W2165875882","https://openalex.org/W2171211995","https://openalex.org/W4285719527","https://openalex.org/W4292408555","https://openalex.org/W6603022566","https://openalex.org/W6605980648","https://openalex.org/W6808071300","https://openalex.org/W6922509859"],"related_works":["https://openalex.org/W4308703632","https://openalex.org/W1874218954","https://openalex.org/W2131435825","https://openalex.org/W65954170","https://openalex.org/W4233987368","https://openalex.org/W2348071873","https://openalex.org/W2983970111","https://openalex.org/W1988876749","https://openalex.org/W2915248236","https://openalex.org/W4399543828"],"abstract_inverted_index":{"A":[0],"robust":[1],"swarm":[2,75],"intelligence":[3,76],"based":[4,45,73],"approach":[5],"for":[6],"the":[7,25,28,31,39,47,79,83,88],"self-reconfiguration":[8],"of":[9,27,30,90],"a":[10],"fault-tolerant":[11],"multi-legged":[12],"walking":[13],"robot":[14,32,106],"is":[15,21,44,71],"elaborated":[16],"in":[17,55,99],"this":[18,86],"paper.":[19],"It":[20],"used":[22],"to":[23],"reconfigure":[24],"posture":[26],"legs":[29,41],"after":[33],"some":[34],"failure":[35],"has":[36],"occurred":[37],"within":[38,51],"robotpsilas":[40],"and":[42,53,93,112],"it":[43,70],"on":[46,74,103],"intrinsic":[48],"properties":[49],"seen":[50],"swarms":[52],"boids":[54],"nature.":[56],"The":[57],"reconfiguration":[58],"method":[59],"presented":[60],"does":[61],"not":[62],"consider":[63],"any":[64],"conventional":[65],"inverse":[66],"kinematics":[67],"modeling.":[68],"Instead":[69],"solely":[72],"concepts.":[77],"Throughout":[78],"paper":[80],"we":[81,94],"describe":[82],"idea":[84],"behind":[85],"approach,":[87],"principle":[89],"its":[91,96],"operation,":[92],"demonstrate":[95],"practical":[97],"usefulness":[98],"several":[100],"test-cases":[101],"demonstrated":[102],"our":[104],"hexapod":[105],"-":[107],"OSCAR":[108],"(Organic":[109],"Self":[110],"Configuring":[111],"Adapting":[113],"Robot).":[114]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}