{"id":"https://openalex.org/W2768494102","doi":"https://doi.org/10.1145/3132446.3134918","title":"Earthworm like modular robot using active surface gripping mechanism for peristaltic locomotion","display_name":"Earthworm like modular robot using active surface gripping mechanism for peristaltic locomotion","publication_year":2017,"publication_date":"2017-06-28","ids":{"openalex":"https://openalex.org/W2768494102","doi":"https://doi.org/10.1145/3132446.3134918","mag":"2768494102"},"language":"en","primary_location":{"id":"doi:10.1145/3132446.3134918","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","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/A5019658209","display_name":"Anirban Chowdhury","orcid":"https://orcid.org/0000-0002-4005-4586"},"institutions":[{"id":"https://openalex.org/I94234084","display_name":"Indian Institute of Technology Kanpur","ror":"https://ror.org/05pjsgx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I94234084"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Anirban Chowdhury","raw_affiliation_strings":["IIT Kanpur, India"],"affiliations":[{"raw_affiliation_string":"IIT Kanpur, India","institution_ids":["https://openalex.org/I94234084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090477807","display_name":"Shahid Ansari","orcid":null},"institutions":[{"id":"https://openalex.org/I94234084","display_name":"Indian Institute of Technology Kanpur","ror":"https://ror.org/05pjsgx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I94234084"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shahid Ansari","raw_affiliation_strings":["IIT Kanpur, India"],"affiliations":[{"raw_affiliation_string":"IIT Kanpur, India","institution_ids":["https://openalex.org/I94234084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112320973","display_name":"Subhasis Bhaumik","orcid":null},"institutions":[{"id":"https://openalex.org/I98365261","display_name":"Indian Institute of Engineering Science and Technology, Shibpur","ror":"https://ror.org/02ytfzr55","country_code":"IN","type":"education","lineage":["https://openalex.org/I98365261"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Subhasis Bhaumik","raw_affiliation_strings":["IIEST Shibpur, India"],"affiliations":[{"raw_affiliation_string":"IIEST Shibpur, India","institution_ids":["https://openalex.org/I98365261"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019658209"],"corresponding_institution_ids":["https://openalex.org/I94234084"],"apc_list":null,"apc_paid":null,"fwci":0.6373,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67812082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6279109120368958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6131168603897095},{"id":"https://openalex.org/keywords/peristalsis","display_name":"Peristalsis","score":0.5669274926185608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5158457159996033},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4332849085330963},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4289677143096924},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24579274654388428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1889934241771698},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.08614543080329895}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6279109120368958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6131168603897095},{"id":"https://openalex.org/C206813253","wikidata":"https://www.wikidata.org/wiki/Q308695","display_name":"Peristalsis","level":2,"score":0.5669274926185608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5158457159996033},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4332849085330963},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4289677143096924},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24579274654388428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1889934241771698},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.08614543080329895},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3132446.3134918","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1554436968","https://openalex.org/W1675003565","https://openalex.org/W1978540956","https://openalex.org/W1992192651","https://openalex.org/W2071188031","https://openalex.org/W2091051792","https://openalex.org/W2101044015","https://openalex.org/W2101890444","https://openalex.org/W2108779784","https://openalex.org/W2117162889","https://openalex.org/W2138447034","https://openalex.org/W2164658433","https://openalex.org/W2168077076","https://openalex.org/W2168838142","https://openalex.org/W2524481567","https://openalex.org/W2540590476","https://openalex.org/W2545248016","https://openalex.org/W6615366416"],"related_works":["https://openalex.org/W2067064747","https://openalex.org/W2274879254","https://openalex.org/W2103179503","https://openalex.org/W2046465404","https://openalex.org/W2184950145","https://openalex.org/W1993796449","https://openalex.org/W2058440949","https://openalex.org/W2021903420","https://openalex.org/W2021666766","https://openalex.org/W3200826300"],"abstract_inverted_index":{"The":[0,24,68,98,114,135,147,166],"paper":[1],"discusses":[2],"the":[3,13,45,48,52,73,82,111,117,145,172,183],"complete":[4],"development":[5],"of":[6,18,51,72,116,149,191],"a":[7,36,41,90,102,187],"biologically":[8],"inspired":[9],"robot":[10,25,99,118,174],"which":[11,30,198],"incorporates":[12],"continuous":[14],"wave":[15,43],"peristaltic":[16,195],"motion":[17,167],"an":[19,106],"earthworm,":[20],"for":[21,132,161,171,175],"its":[22,63],"locomotion.":[23,67],"has":[26,100],"two":[27,39,112],"body":[28,53,64,74],"segments":[29,75],"can":[31,199],"expand":[32],"and":[33,54,70,81,130,163],"contract":[34],"with":[35],"phase":[37],"difference":[38],"create":[40],"longitudinal":[42],"from":[44],"front":[46],"to":[47,61],"rear":[49],"end":[50],"uses":[55],"variable":[56,83],"surface":[57,84,142,160],"friction":[58,85],"generation":[59,86],"mechanism":[60,80,93,104],"convert":[62],"movements":[65],"into":[66],"expansion":[69],"contraction":[71],"are":[76],"achieved":[77],"using":[78],"lead-screw":[79],"is":[87,119,137,154,179],"done":[88],"by":[89,143],"double":[91],"crank":[92],"mounted":[94],"active":[95,107],"gripping":[96],"technique.":[97],"also":[101,138,155,180],"steering":[103],"through":[105,201],"revolute":[108],"joint":[109],"between":[110],"segments.":[113],"locomotion":[115,136],"tested":[120,139,156],"on":[121,157],"different":[122,151],"flat":[123,202],"surfaces":[124],"such":[125],"as":[126,203,205],"soft":[127],"floor-mat,":[128],"concrete,":[129],"wood":[131],"straight-line":[133],"motion.":[134],"in":[140],"inclined":[141,206],"varying":[144],"inclination.":[146],"ability":[148],"following":[150,176],"curved":[152,177],"trajectories":[153,178],"PVC":[158],"flex":[159],"circular":[162],"sinusoidal":[164],"trajectories.":[165],"planning":[168],"strategy":[169],"suitable":[170],"developed":[173],"discussed.":[181],"Overall,":[182],"present":[184],"work":[185],"gives":[186],"new":[188],"design":[189],"approach":[190],"building":[192],"earthworm":[193],"like":[194],"mobile":[196],"robots":[197],"navigate":[200],"well":[204],"even":[207],"surfaces.":[208]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}