{"id":"https://openalex.org/W2888511464","doi":"https://doi.org/10.1109/urai.2018.8441880","title":"Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion","display_name":"Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888511464","doi":"https://doi.org/10.1109/urai.2018.8441880","mag":"2888511464"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2018.8441880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","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/A5113778149","display_name":"Seong\u2010Jae Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongjae Jeong","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047099833","display_name":"Byungheon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byungheon Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sumin Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sumin Park","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101617359","display_name":"Eugene Park","orcid":"https://orcid.org/0000-0002-0878-9830"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eugene Park","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077678072","display_name":"Alexander Spinos","orcid":"https://orcid.org/0000-0002-3869-6483"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Alexander Spinos","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022453247","display_name":"Devin Carroll","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Devin Carroll","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070488730","display_name":"Thulani Tsabedze","orcid":"https://orcid.org/0000-0003-0747-7373"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thulani Tsabedze","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022673383","display_name":"Yulai Weng","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yulai Weng","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I55240360","display_name":"Yeungnam University","ror":"https://ror.org/05yc6p159","country_code":"KR","type":"education","lineage":["https://openalex.org/I55240360"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["The School of Mechanical Engineering, Yeungnam University, Daehak-ro, Gyeongsan-si, Gyeongsangbuk-do, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Mechanical Engineering, Yeungnam University, Daehak-ro, Gyeongsan-si, Gyeongsangbuk-do, Republic of Korea","institution_ids":["https://openalex.org/I55240360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009036246","display_name":"Frank C. Park","orcid":"https://orcid.org/0000-0002-0293-6975"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Frank C. Park","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100356559","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0003-2519-6890"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwon Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":12,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1966,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77779715,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"610","last_page":"615"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/control-reconfiguration","display_name":"Control reconfiguration","score":0.7855098247528076},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7391185760498047},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6326625347137451},{"id":"https://openalex.org/keywords/truss","display_name":"Truss","score":0.5866304039955139},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5665183663368225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.545581042766571},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5053389668464661},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4976544678211212},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4958992898464203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47702452540397644},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4410797357559204},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41517600417137146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39625707268714905},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.24293279647827148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14032289385795593},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10049667954444885}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.7855098247528076},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7391185760498047},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6326625347137451},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.5866304039955139},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5665183663368225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.545581042766571},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5053389668464661},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4976544678211212},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4958992898464203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47702452540397644},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4410797357559204},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41517600417137146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39625707268714905},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.24293279647827148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14032289385795593},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10049667954444885},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2018.8441880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1721298138","https://openalex.org/W1973791928","https://openalex.org/W2047234459","https://openalex.org/W2055201760","https://openalex.org/W2098759357","https://openalex.org/W2106473816","https://openalex.org/W2128990851","https://openalex.org/W2138296912","https://openalex.org/W2143660670","https://openalex.org/W2159432469","https://openalex.org/W2416789059","https://openalex.org/W2743722480","https://openalex.org/W2775410230","https://openalex.org/W2775588140","https://openalex.org/W2916057004"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W2955404263","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W2142042635","https://openalex.org/W4214878056","https://openalex.org/W1580144672","https://openalex.org/W1988127757","https://openalex.org/W4248634784"],"abstract_inverted_index":{"The":[0,128],"variable":[1,30],"topology":[2,21],"truss":[3],"(VTT)":[4],"system":[5],"is":[6,117],"a":[7,23,46,61,105,123,132,141],"new":[8],"type":[9],"of":[10,22,29,36,64],"modular":[11],"platform":[12],"that":[13],"enables":[14],"control":[15],"over":[16],"both":[17,26],"the":[18,27,34,42,65,84,90],"shape":[19],"and":[20,33,49,87,95,113],"truss,":[24],"bringing":[25],"efficiency":[28],"geometry":[31],"trusses":[32],"flexibility":[35],"self-reconfigurable":[37],"robots.":[38],"A":[39],"VTT":[40,66,78,91,100,112,126,143],"has":[41],"capability":[43],"to":[44,53,119],"enter":[45],"disaster":[47],"site":[48],"shore":[50],"damaged":[51],"structures":[52],"assist":[54],"with":[55],"rescue":[56],"work.":[57],"This":[58],"paper":[59],"presents":[60],"revised":[62],"overview":[63],"hardware":[67],"design,":[68],"enhanced":[69],"from":[70],"our":[71,115,145],"previous":[72],"works.":[73],"We":[74,103],"propose":[75,104],"an":[76],"active":[77],"spherical":[79],"joint,":[80],"which":[81],"can":[82],"address":[83],"hardware-related":[85],"issues":[86],"also":[88],"simplify":[89],"software.":[92],"Additionally,":[93],"reconfiguration":[94],"locomotion":[96,129],"planning":[97],"algorithms":[98],"for":[99,111,140],"are":[101],"presented.":[102],"retraction-based":[106],"RRT":[107,121],"method":[108],"especially":[109],"suitable":[110],"show":[114,144],"algorithm":[116,130,146],"superior":[118],"basic":[120],"in":[122],"practical":[124],"21-member":[125,142],"scenario.":[127],"implements":[131],"rolling":[133],"gait":[134],"under":[135],"kinematic":[136],"constraints;":[137],"simulation":[138],"results":[139],"yields":[147],"accurate":[148],"trajectory":[149],"tracking.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
