{"id":"https://openalex.org/W2128651140","doi":"https://doi.org/10.1177/0278364908099463","title":"Dynamic Rolling for a Modular Loop Robot","display_name":"Dynamic Rolling for a Modular Loop Robot","publication_year":2009,"publication_date":"2009-05-20","ids":{"openalex":"https://openalex.org/W2128651140","doi":"https://doi.org/10.1177/0278364908099463","mag":"2128651140"},"language":"en","primary_location":{"id":"doi:10.1177/0278364908099463","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908099463","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-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/A5071465129","display_name":"Jimmy Sastra","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":true,"raw_author_name":"Jimmy Sastra","raw_affiliation_strings":["GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,","GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania, USA,","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057299610","display_name":"Sachin Chitta","orcid":"https://orcid.org/0000-0003-4859-6096"},"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":true,"raw_author_name":"Sachin Chitta","raw_affiliation_strings":["GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,","GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania, USA,","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","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":true,"raw_author_name":"Mark Yim","raw_affiliation_strings":["GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,","GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania, USA,","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5057299610","https://openalex.org/A5061019213","https://openalex.org/A5071465129"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":22.8293,"has_fulltext":false,"cited_by_count":129,"citation_normalized_percentile":{"value":0.99715141,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"28","issue":"6","first_page":"758","last_page":"773"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973999857902527,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7532312870025635},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7140889763832092},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5712735652923584},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5695348978042603},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5215573310852051},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5108837485313416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4991116523742676},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49082836508750916},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4782382845878601},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4602888822555542},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4387267231941223},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.437175989151001},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4337790906429291},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33587610721588135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2307441532611847},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1807442307472229},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13548186421394348},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12396848201751709},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10271269083023071}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7532312870025635},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7140889763832092},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5712735652923584},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5695348978042603},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5215573310852051},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5108837485313416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4991116523742676},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49082836508750916},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4782382845878601},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4602888822555542},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4387267231941223},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.437175989151001},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4337790906429291},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33587610721588135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2307441532611847},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1807442307472229},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13548186421394348},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12396848201751709},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10271269083023071},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364908099463","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908099463","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W102190310","https://openalex.org/W141577064","https://openalex.org/W181237337","https://openalex.org/W1544323403","https://openalex.org/W1566800662","https://openalex.org/W1585577797","https://openalex.org/W1890673840","https://openalex.org/W1971594916","https://openalex.org/W1980012728","https://openalex.org/W1996763811","https://openalex.org/W2024084391","https://openalex.org/W2027344026","https://openalex.org/W2029058516","https://openalex.org/W2078063607","https://openalex.org/W2079497341","https://openalex.org/W2080826208","https://openalex.org/W2097235959","https://openalex.org/W2098759357","https://openalex.org/W2106979901","https://openalex.org/W2110553134","https://openalex.org/W2118679978","https://openalex.org/W2123234393","https://openalex.org/W2125095860","https://openalex.org/W2125680021","https://openalex.org/W2132817270","https://openalex.org/W2137670317","https://openalex.org/W2138873205","https://openalex.org/W2139714790","https://openalex.org/W2139981958","https://openalex.org/W2153315991","https://openalex.org/W2159873858","https://openalex.org/W2163668399","https://openalex.org/W2163883769","https://openalex.org/W2166760693","https://openalex.org/W2582998992","https://openalex.org/W3150997492","https://openalex.org/W4241589064","https://openalex.org/W4244791762","https://openalex.org/W4255430598","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2136735429","https://openalex.org/W170547082","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W4301044568","https://openalex.org/W2128075414","https://openalex.org/W1587123803","https://openalex.org/W2571039174","https://openalex.org/W2354431809"],"abstract_inverted_index":{"Reconfigurable":[0],"modular":[1,153],"robots":[2],"have":[3,190],"the":[4,20,63,92,97,114,145,157],"ability":[5],"to":[6,12,48,62,83,120,143,205,215],"use":[7],"different":[8],"gaits":[9],"and":[10,31,42,65,102,108,194],"configurations":[11],"perform":[13],"various":[14],"tasks.":[15],"A":[16],"rolling":[17,51],"gait":[18,24,147],"is":[19,74,81,99,132,141,160,203],"fastest":[21,146],"currently":[22],"implemented":[23,149],"available":[25],"for":[26,52,150],"traversal":[27],"over":[28],"level":[29],"ground":[30,64],"shows":[32],"dramatic":[33],"improvements":[34],"in":[35,85,95,129],"efficiency.":[36],"In":[37],"this":[38,130,175],"work,":[39],"we":[40,111],"analyze":[41],"implement":[43],"a":[44,53],"sensor-based":[45],"feedback":[46],"controller":[47],"achieve":[49,121,165],"dynamic":[50],"loop":[54],"robot.":[55,154],"The":[56,125,200],"robot":[57,98],"senses":[58],"its":[59,67,77,88],"position":[60],"relative":[61],"changes":[66],"shape":[68,73,116],"as":[69,181,183],"it":[70],"rolls.":[71],"This":[72],"such":[75],"that":[76,161,174,187],"center":[78],"of":[79,87,156,209],"gravity":[80],"maintained":[82],"be":[84,118,144],"front":[86],"contact":[89],"point":[90],"with":[91],"ground,":[93],"so":[94],"effect":[96],"continuously":[100],"falling":[101],"thus":[103,196],"accelerates":[104],"forward.":[105],"Using":[106],"simulation":[107],"experimental":[109],"results,":[110],"show":[112,186],"how":[113],"desired":[115],"can":[117],"varied":[119],"higher":[122,166],"terminal":[123,167],"velocities.":[124],"highest":[126],"velocity":[127],"achieved":[128],"work":[131],"26":[133],"module":[134],"lengths":[135],"per":[136],"second":[137],"(1.6":[138],"m/s)":[139],"which":[140],"believed":[142],"yet":[148],"an":[151,206],"untethered":[152],"One":[155],"major":[158],"findings":[159],"more":[162,197],"elongated":[163],"shapes":[164,189],"velocities":[168],"than":[169],"rounder":[170,188],"shapes.":[171],"We":[172,185],"demonstrate":[173],"trend":[176],"holds":[177],"going":[178],"up":[179],"inclines":[180],"well":[182],"down.":[184],"lower":[191],"specific":[192],"resistance":[193],"are":[195],"energy":[198],"efficient.":[199],"control":[201],"scheme":[202],"scalable":[204],"arbitrary":[207],"number":[208],"modules,":[210],"shown":[211],"here":[212],"using":[213],"eight":[214],"14":[216],"modules.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}