{"id":"https://openalex.org/W1991749454","doi":"https://doi.org/10.1109/tase.2013.2273356","title":"A Study on Sinus-Lifting Motion of a Snake Robot With Sequential Optimization of a Hybrid System","display_name":"A Study on Sinus-Lifting Motion of a Snake Robot With Sequential Optimization of a Hybrid System","publication_year":2013,"publication_date":"2013-08-08","ids":{"openalex":"https://openalex.org/W1991749454","doi":"https://doi.org/10.1109/tase.2013.2273356","mag":"1991749454"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2013.2273356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2013.2273356","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://uec.repo.nii.ac.jp/records/9291","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014084089","display_name":"Satoshi Toyoshima","orcid":null},"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"]},{"id":"https://openalex.org/I4210140509","display_name":"Kyoto Katsura Hospital","ror":"https://ror.org/04w3ve464","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210140509"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Toyoshima","raw_affiliation_strings":["Kyoto University Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan","Kyoto University, Kyoto, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyoto University Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242","https://openalex.org/I4210140509"]},{"raw_affiliation_string":"Kyoto University, Kyoto, Japan#TAB#","institution_ids":["https://openalex.org/I22299242"]}]},{"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","Univ. of Electro-Commun., Chofu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Univ. of Electro-Commun., Chofu, Japan","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"]},{"id":"https://openalex.org/I4210140509","display_name":"Kyoto Katsura Hospital","ror":"https://ror.org/04w3ve464","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210140509"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Kyoto University Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan","Kyoto University, Kyoto, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyoto University Kyotodaigaku-Katsura, Nishikyo-ku, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242","https://openalex.org/I4210140509"]},{"raw_affiliation_string":"Kyoto University, Kyoto, Japan#TAB#","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5869,"has_fulltext":true,"cited_by_count":29,"citation_normalized_percentile":{"value":0.8137783,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"11","issue":"1","first_page":"139","last_page":"144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7348004579544067},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6605777144432068},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6562023162841797},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5295050144195557},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48812445998191833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47024503350257874},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45321932435035706},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44835859537124634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4213971793651581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3841359615325928},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3353053629398346},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.29410749673843384},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23334449529647827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12795794010162354},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0637768805027008}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7348004579544067},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6605777144432068},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6562023162841797},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5295050144195557},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48812445998191833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47024503350257874},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45321932435035706},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44835859537124634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4213971793651581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3841359615325928},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3353053629398346},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29410749673843384},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23334449529647827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12795794010162354},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0637768805027008}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2013.2273356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2013.2273356","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:00931:0004080232","is_oa":true,"landing_page_url":"https://uec.repo.nii.ac.jp/records/9291","pdf_url":null,"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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:00931:0004080232","is_oa":true,"landing_page_url":"https://uec.repo.nii.ac.jp/records/9291","pdf_url":null,"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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G4880328861","display_name":"Dynamics Based Intelligence of Redundant Swarm Mechanical Systems with Adaptability","funder_award_id":"23360105","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W94584998","https://openalex.org/W1660562555","https://openalex.org/W1939016165","https://openalex.org/W1976418738","https://openalex.org/W2015364224","https://openalex.org/W2040325382","https://openalex.org/W2057440455","https://openalex.org/W2065018616","https://openalex.org/W2090373601","https://openalex.org/W2103615905","https://openalex.org/W2103955286","https://openalex.org/W2104114185","https://openalex.org/W2113817808","https://openalex.org/W2113928343","https://openalex.org/W2114737322","https://openalex.org/W2118657452","https://openalex.org/W2123905133","https://openalex.org/W2128095394","https://openalex.org/W2128524243","https://openalex.org/W2140516362","https://openalex.org/W2146262966","https://openalex.org/W2146774371","https://openalex.org/W2162598825","https://openalex.org/W2163994137","https://openalex.org/W2316872666","https://openalex.org/W2545049622","https://openalex.org/W6677386361"],"related_works":["https://openalex.org/W2807251790","https://openalex.org/W2799406489","https://openalex.org/W2049792449","https://openalex.org/W986251431","https://openalex.org/W2503798035","https://openalex.org/W563727013","https://openalex.org/W2502468346","https://openalex.org/W2085374841","https://openalex.org/W2329529557","https://openalex.org/W3130903143"],"abstract_inverted_index":{"In":[0],"this":[1,54],"paper,":[2],"we":[3],"consider":[4],"\u201csinus-lifting":[5],"motion\u201d":[6],"of":[7,19,53,71,99],"a":[8,13,47,64,100],"living":[9],"snake,":[10],"in":[11],"which":[12],"snake":[14,48,65,101],"lifts":[15],"up":[16],"some":[17],"parts":[18,29],"its":[20],"body":[21],"from":[22],"the":[23,27,37,41,69,72],"ground,":[24],"and":[25,82,90],"switches":[26],"lifted":[28],"dynamically.":[30],"It":[31],"is":[32,40,56],"not":[33,45],"clear":[34],"whether":[35],"imitating":[36],"sinus-lifting":[38,73],"motion":[39,61,97],"best":[42],"locomotion":[43],"or":[44],"for":[46,94],"like":[49,66,102],"robot.":[50,103],"The":[51],"aim":[52],"paper":[55],"to":[57,63,88],"propose":[58,91],"an":[59],"appropriate":[60],"pattern":[62],"robot":[67],"considering":[68],"optimality":[70],"motion.":[74],"We":[75],"introduce":[76],"two":[77],"physical":[78],"parameters,":[79],"constraint":[80],"forces":[81],"energy":[83],"efficiency,":[84],"as":[85],"cost":[86],"functions":[87],"optimize":[89],"switching":[92],"strategies":[93],"generating":[95],"optimal":[96],"patterns":[98]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}