{"id":"https://openalex.org/W2231780113","doi":"https://doi.org/10.1177/0278364915593793","title":"Kinematic gait synthesis for snake robots","display_name":"Kinematic gait synthesis for snake robots","publication_year":2015,"publication_date":"2015-08-06","ids":{"openalex":"https://openalex.org/W2231780113","doi":"https://doi.org/10.1177/0278364915593793","mag":"2231780113"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915593793","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915593793","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/A5075440564","display_name":"Chaohui Gong","orcid":"https://orcid.org/0000-0003-1748-9597"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chaohui Gong","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon\r        University, USA","Robotics Institute, Carnegie Mellon\r University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r        University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075935086","display_name":"Matthew Travers","orcid":"https://orcid.org/0000-0001-7275-2090"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew J. Travers","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon\r        University, USA","Robotics Institute, Carnegie Mellon\r University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r        University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022529375","display_name":"Henry C. Astley","orcid":"https://orcid.org/0000-0003-0136-1433"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henry C. Astley","raw_affiliation_strings":["School of Physics, Georgia Institute of\r        Technology, USA","School of Physics, Georgia Institute of\r Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics, Georgia Institute of\r        Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Physics, Georgia Institute of\r Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101985785","display_name":"Li Lu","orcid":"https://orcid.org/0000-0001-5635-7808"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lu Li","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon\r        University, USA","Robotics Institute, Carnegie Mellon\r University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r        University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055528252","display_name":"Joseph R. Mendelson","orcid":"https://orcid.org/0000-0001-5620-377X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210099289","display_name":"Zoo Atlanta","ror":"https://ror.org/010heyq73","country_code":"US","type":"archive","lineage":["https://openalex.org/I4210099289"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph R. Mendelson","raw_affiliation_strings":["Department of Herpetology, Zoo Atlanta,\r        USA","School of Biology, Georgia Institute of\r        Technology, USA","Department of Herpetology, Zoo Atlanta,\r USA","School of Biology, Georgia Institute of\r Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Herpetology, Zoo Atlanta,\r        USA","institution_ids":["https://openalex.org/I4210099289"]},{"raw_affiliation_string":"School of Biology, Georgia Institute of\r        Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Department of Herpetology, Zoo Atlanta,\r USA","institution_ids":["https://openalex.org/I4210099289"]},{"raw_affiliation_string":"School of Biology, Georgia Institute of\r Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078622216","display_name":"Daniel I. Goldman","orcid":"https://orcid.org/0000-0002-6954-9857"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel I. Goldman","raw_affiliation_strings":["School of Physics, Georgia Institute of\r        Technology, USA","School of Physics, Georgia Institute of\r Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics, Georgia Institute of\r        Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Physics, Georgia Institute of\r Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon\r        University, USA","Robotics Institute, Carnegie Mellon\r University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r        University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon\r University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075440564"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.239,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.92001694,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"35","issue":"1-3","first_page":"100","last_page":"113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"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":0.9980000257492065,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9865000247955322,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9819999933242798,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.7742651700973511},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7319173812866211},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7023127675056458},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6170724034309387},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5769782066345215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5650758743286133},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.547336220741272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5437142252922058},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5431028008460999},{"id":"https://openalex.org/keywords/biological-motion","display_name":"Biological motion","score":0.48068293929100037},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.43650802969932556},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4320123791694641},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2798590660095215},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2306612730026245},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14248621463775635},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07930707931518555}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7742651700973511},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7319173812866211},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7023127675056458},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6170724034309387},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5769782066345215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5650758743286133},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.547336220741272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5437142252922058},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5431028008460999},{"id":"https://openalex.org/C20864712","wikidata":"https://www.wikidata.org/wiki/Q667800","display_name":"Biological motion","level":3,"score":0.48068293929100037},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.43650802969932556},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4320123791694641},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2798590660095215},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2306612730026245},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14248621463775635},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07930707931518555},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915593793","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915593793","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W198676126","https://openalex.org/W1529395305","https://openalex.org/W1761337995","https://openalex.org/W1970644774","https://openalex.org/W1991042426","https://openalex.org/W2004990598","https://openalex.org/W2007085249","https://openalex.org/W2010072691","https://openalex.org/W2012104262","https://openalex.org/W2013912476","https://openalex.org/W2018282388","https://openalex.org/W2024165284","https://openalex.org/W2043758749","https://openalex.org/W2056615005","https://openalex.org/W2066261402","https://openalex.org/W2067477688","https://openalex.org/W2072773380","https://openalex.org/W2076459794","https://openalex.org/W2079830044","https://openalex.org/W2084501856","https://openalex.org/W2098768009","https://openalex.org/W2103615905","https://openalex.org/W2106141980","https://openalex.org/W2109291623","https://openalex.org/W2110029398","https://openalex.org/W2113055885","https://openalex.org/W2115498595","https://openalex.org/W2117949838","https://openalex.org/W2123297103","https://openalex.org/W2125096161","https://openalex.org/W2134753324","https://openalex.org/W2137392095","https://openalex.org/W2137670317","https://openalex.org/W2142254043","https://openalex.org/W2144026911","https://openalex.org/W2146418849","https://openalex.org/W2148507357","https://openalex.org/W2149516292","https://openalex.org/W2154301842","https://openalex.org/W2156174987","https://openalex.org/W2162521467","https://openalex.org/W2167911245","https://openalex.org/W2277730489","https://openalex.org/W2292979104","https://openalex.org/W2293202967","https://openalex.org/W2511353375","https://openalex.org/W3172424995"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W1494268238","https://openalex.org/W154868527","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W4255576661","https://openalex.org/W1516574938","https://openalex.org/W2625725254","https://openalex.org/W2563912921"],"abstract_inverted_index":{"Snake":[0],"robots":[1,15],"are":[2],"highly":[3],"articulated":[4],"mechanisms":[5,25],"that":[6,13,41,75,193],"can":[7,53,88],"perform":[8],"a":[9,108,121,128,142,167],"variety":[10,109],"of":[11,21,58,63,110,148,160,198],"motions":[12,91],"conventional":[14],"cannot.":[16],"Despite":[17],"many":[18],"demonstrated":[19],"successes":[20],"snake":[22,59,73,93,151,164,168,199],"robots,":[23],"these":[24],"have":[26],"not":[27],"been":[28],"able":[29,154],"to":[30,49,155,171,184,190],"achieve":[31,50],"the":[32,56,69,116,149,157,161,186,196],"agility":[33,173],"displayed":[34],"by":[35,126],"their":[36],"biological":[37,44,86,163],"counterparts.":[38],"We":[39,113],"suggest":[40],"studying":[42],"how":[43],"snakes":[45,87],"coordinate":[46],"whole-body":[47],"motion":[48,152,165],"agile":[51],"behaviors":[52,192],"help":[54],"improve":[55,195],"performance":[57,197],"robots.":[60,94,200],"The":[61,145],"foundation":[62],"this":[64,97],"work":[65],"is":[66,76,153],"based":[67],"on":[68,166],"hypothesis":[70],"that,":[71],"for":[72],"locomotion":[74],"approximately":[77],"kinematic,":[78],"replaying":[79],"parameterized":[80,180],"shape":[81,101,117],"trajectory":[82,102,118],"data":[83,103,119,139],"collected":[84,100],"from":[85,104],"generate":[89,191],"equivalent":[90],"in":[92,120],"To":[95],"test":[96],"hypothesis,":[98],"we":[99],"sidewinder":[105],"rattlesnakes":[106],"executing":[107],"different":[111],"behaviors.":[112],"then":[114],"analyze":[115],"concise":[122],"and":[123,174],"meaningful":[124],"way":[125],"using":[127],"new":[129],"algorithm,":[130],"called":[131],"conditioned":[132],"basis":[133],"array":[134],"factorization,":[135],"which":[136],"projects":[137],"high-dimensional":[138],"arrays":[140],"onto":[141],"low-dimensional":[143,146,187],"representation.":[144],"representation":[147,181],"recorded":[150,162],"reproduce":[156],"essential":[158],"features":[159],"robot,":[169],"leading":[170],"improved":[172],"maneuverability,":[175],"confirming":[176],"our":[177],"hypothesis.":[178],"This":[179],"allows":[182],"us":[183],"search":[185],"parameter":[188],"space":[189],"further":[194]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}