{"id":"https://openalex.org/W2946367378","doi":"https://doi.org/10.1177/0278364919847763","title":"Kinodynamic planning for spherical tensegrity locomotion with effective gait primitives","display_name":"Kinodynamic planning for spherical tensegrity locomotion with effective gait primitives","publication_year":2019,"publication_date":"2019-05-23","ids":{"openalex":"https://openalex.org/W2946367378","doi":"https://doi.org/10.1177/0278364919847763","mag":"2946367378"},"language":"en","primary_location":{"id":"doi:10.1177/0278364919847763","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364919847763","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/A5072676941","display_name":"Zakary Littlefield","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zakary Littlefield","raw_affiliation_strings":["Department of Computer Science, Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043252058","display_name":"David Surovik","orcid":"https://orcid.org/0000-0002-9454-5874"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Surovik","raw_affiliation_strings":["Department of Computer Science, Rutgers University, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0002-9454-5874","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078727000","display_name":"Massimo Vespignani","orcid":"https://orcid.org/0000-0003-1408-7517"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Massimo Vespignani","raw_affiliation_strings":["Intelligent Robotics Group, NASA Ames Research Center, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Group, NASA Ames Research Center, CA, USA","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038985949","display_name":"Jonathan Bruce","orcid":"https://orcid.org/0000-0002-9906-6995"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Bruce","raw_affiliation_strings":["Intelligent Robotics Group, NASA Ames Research Center, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Group, NASA Ames Research Center, CA, USA","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040480587","display_name":"Weifu Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I392282","display_name":"University at Albany, State University of New York","ror":"https://ror.org/012zs8222","country_code":"US","type":"education","lineage":["https://openalex.org/I392282"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weifu Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, State University of New York at Albany, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, State University of New York at Albany, NY, USA","institution_ids":["https://openalex.org/I392282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kostas E Bekris","raw_affiliation_strings":["Department of Computer Science, Rutgers University, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0002-0675-3324","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010667333"],"corresponding_institution_ids":["https://openalex.org/I102322142"],"apc_list":null,"apc_paid":null,"fwci":1.191,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.82930715,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"38","issue":"12-13","first_page":"1442","last_page":"1462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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/T11870","display_name":"Structural Analysis and Optimization","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9887999892234802,"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/tensegrity","display_name":"Tensegrity","score":0.9331120252609253},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6906222701072693},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6290748119354248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5515090823173523},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.47108781337738037},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.45382556319236755},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4354853332042694},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4304271936416626},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3720581531524658},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3355311155319214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28162533044815063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2750382721424103},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.19037097692489624},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14340895414352417}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9331120252609253},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6906222701072693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6290748119354248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5515090823173523},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.47108781337738037},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.45382556319236755},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4354853332042694},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4304271936416626},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3720581531524658},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3355311155319214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28162533044815063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2750382721424103},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.19037097692489624},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14340895414352417},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364919847763","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364919847763","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"},{"id":"pmh:oai:alma.01RUT_INST:11665178730004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/journalArticle/Kinodynamic-planning-for-spherical-tensegrity-locomotion/991031666027204646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.75}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W103174441","https://openalex.org/W561222487","https://openalex.org/W1590980019","https://openalex.org/W1592294156","https://openalex.org/W1777480005","https://openalex.org/W1964007058","https://openalex.org/W1976587447","https://openalex.org/W1992982708","https://openalex.org/W1996028840","https://openalex.org/W1996273048","https://openalex.org/W1998394830","https://openalex.org/W2000359213","https://openalex.org/W2001124350","https://openalex.org/W2004318722","https://openalex.org/W2006010000","https://openalex.org/W2015548010","https://openalex.org/W2017506947","https://openalex.org/W2022992168","https://openalex.org/W2026447342","https://openalex.org/W2036016432","https://openalex.org/W2049561732","https://openalex.org/W2062802099","https://openalex.org/W2077705453","https://openalex.org/W2081570540","https://openalex.org/W2113147141","https://openalex.org/W2123261982","https://openalex.org/W2130127276","https://openalex.org/W2132990760","https://openalex.org/W2137635386","https://openalex.org/W2139784807","https://openalex.org/W2157247055","https://openalex.org/W2164402964","https://openalex.org/W2165530525","https://openalex.org/W2189787697","https://openalex.org/W2197865343","https://openalex.org/W2198355680","https://openalex.org/W2270090518","https://openalex.org/W2418545027","https://openalex.org/W2468927877","https://openalex.org/W2484060695","https://openalex.org/W2765678012","https://openalex.org/W2798257756","https://openalex.org/W2890091785","https://openalex.org/W2900568443","https://openalex.org/W2909067076","https://openalex.org/W2910893906","https://openalex.org/W2962743868","https://openalex.org/W2964303882","https://openalex.org/W3099855898"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W3004877747","https://openalex.org/W2115970849","https://openalex.org/W2753313941","https://openalex.org/W2743429811","https://openalex.org/W3109937722","https://openalex.org/W2774932088","https://openalex.org/W3089631629","https://openalex.org/W4387527360"],"abstract_inverted_index":{"Tensegrity-based":[0],"robots":[1],"can":[2,33,239],"achieve":[3,180],"locomotion":[4],"through":[5],"shape":[6],"deformation":[7],"and":[8,17,22,28,45,84,209],"compliance.":[9],"They":[10],"are":[11,18,124,171,189,199,210],"highly":[12],"adaptable":[13],"to":[14,38,87,107,132,179,247],"their":[15],"surroundings,":[16],"lightweight,":[19],"low":[20],"cost,":[21],"physically":[23],"robust.":[24],"Their":[25],"high":[26],"dimensionality":[27],"strongly":[29],"dynamic":[30,47,89,244],"nature,":[31],"however,":[32],"complicate":[34],"motion":[35,48,91,165,197,217,246],"planning.":[36],"Efforts":[37],"date":[39],"have":[40],"primarily":[41],"considered":[42],"quasi-static":[43,102],"reconfiguration":[44],"short-term":[46],"of":[49,76,121,139,147,160,205,243],"tensegrity":[50,154,245],"robots,":[51],"which":[52,156],"do":[53],"not":[54],"fully":[55],"exploit":[56],"the":[57,62,73,94,109,122,151,158,186,195,202,228,241],"underlying":[58],"system":[59,110],"dynamics":[60],"in":[61,183],"long":[63],"term.":[64],"Longer-horizon":[65],"planning":[66,182],"has":[67],"previously":[68],"required":[69],"costly":[70],"search":[71,177,237],"over":[72],"full":[74],"space":[75],"valid":[77,207],"control":[78],"inputs.":[79],"This":[80],"work":[81],"synthesizes":[82],"new":[83],"existing":[85],"approaches":[86],"produce":[88,133,248],"long-term":[90,181],"while":[92],"balancing":[93],"computational":[95],"demand.":[96],"A":[97],"numerical":[98],"process":[99],"based":[100],"upon":[101],"assumptions":[103],"is":[104],"first":[105,172],"applied":[106,236],"deform":[108],"into":[111],"an":[112,213],"unstable":[113],"configuration,":[114],"causing":[115],"forward":[116],"motion.":[117],"The":[118,142],"dynamical":[119],"characteristics":[120],"result":[123],"then":[125],"altered":[126],"via":[127],"a":[128,134,175,224],"few":[129],"simple":[130],"parameters":[131],"small":[135],"but":[136,163,234],"diverse":[137],"set":[138],"useful":[140],"behaviors.":[141],"proposed":[143],"approach":[144],"takes":[145],"advantage":[146],"identified":[148],"symmetries":[149],"on":[150],"prototypical":[152,229],"spherical":[153],"robot,":[155],"reduce":[157],"number":[159],"needed":[161],"gaits":[162,170,188],"allow":[164],"along":[166],"different":[167],"directions.":[168],"These":[169],"combined":[173],"with":[174,201,219],"standard":[176],"method":[178],"environments":[184],"where":[185],"developed":[187],"effective.":[190],"For":[191],"more":[192],"complex":[193],"environments,":[194],"various":[196],"primitives":[198],"paired":[200],"fall-back":[203],"option":[204],"random":[206],"actions":[208],"used":[211],"by":[212],"informed":[214],"sampling-based":[215],"kinodynamic":[216],"planner":[218],"anytime":[220],"properties.":[221],"Evaluations":[222],"using":[223],"physics-based":[225],"model":[226],"for":[227],"robot":[230],"demonstrate":[231],"that":[232],"modest":[233],"efficiently":[235],"effort":[238],"unlock":[240],"utility":[242],"high-quality":[249],"solutions.":[250]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}