{"id":"https://openalex.org/W2735426609","doi":"https://doi.org/10.23919/acc.2017.7963025","title":"Geometric gait optimization beyond two dimensions","display_name":"Geometric gait optimization beyond two dimensions","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2735426609","doi":"https://doi.org/10.23919/acc.2017.7963025","mag":"2735426609"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2017.7963025","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5028600451","display_name":"Suresh Ramasamy","orcid":"https://orcid.org/0000-0003-1077-3560"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Suresh Ramasamy","raw_affiliation_strings":["Oregon State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oregon State University","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076997453","display_name":"Ross L. Hatton","orcid":"https://orcid.org/0000-0002-0422-0209"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross L. Hatton","raw_affiliation_strings":["Oregon State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oregon State University","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":4.4147,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.95814172,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"642","last_page":"648"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9869999885559082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7794787883758545},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6405789852142334},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.5940260887145996},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5718376040458679},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.534350574016571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5228003263473511},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41559240221977234},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39349859952926636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26509177684783936},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19186916947364807},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17863982915878296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1655276119709015},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06552085280418396}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7794787883758545},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6405789852142334},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.5940260887145996},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5718376040458679},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.534350574016571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5228003263473511},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41559240221977234},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39349859952926636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26509177684783936},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19186916947364807},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17863982915878296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1655276119709015},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06552085280418396},{"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2017.7963025","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W199399172","https://openalex.org/W1503921472","https://openalex.org/W1530705471","https://openalex.org/W1647490791","https://openalex.org/W1966086223","https://openalex.org/W1966375567","https://openalex.org/W1993545591","https://openalex.org/W1994724120","https://openalex.org/W2015063509","https://openalex.org/W2021272905","https://openalex.org/W2032406975","https://openalex.org/W2039763880","https://openalex.org/W2054261995","https://openalex.org/W2056370235","https://openalex.org/W2060127978","https://openalex.org/W2094460003","https://openalex.org/W2097945949","https://openalex.org/W2106141980","https://openalex.org/W2108559035","https://openalex.org/W2133361850","https://openalex.org/W2137922094","https://openalex.org/W2144026911","https://openalex.org/W2148224992","https://openalex.org/W2169964128","https://openalex.org/W2171575945","https://openalex.org/W2208654760","https://openalex.org/W2288231337","https://openalex.org/W2324074576","https://openalex.org/W2412537136","https://openalex.org/W2591485004","https://openalex.org/W2602343718","https://openalex.org/W2963432663","https://openalex.org/W3047769892","https://openalex.org/W3106095942","https://openalex.org/W4239270100","https://openalex.org/W4292408540","https://openalex.org/W6687937038"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2075768550","https://openalex.org/W2368363778","https://openalex.org/W3022218857","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933"],"abstract_inverted_index":{"Locomotion":[0],"for":[1,32,44,66,80],"many":[2],"articulated":[3],"mechanical":[4],"systems":[5,34,48],"and":[6],"animals":[7],"is":[8],"achieved":[9],"through":[10],"cyclic":[11],"changes":[12],"in":[13,27],"shapes":[14],"called":[15],"gaits.":[16],"In":[17],"this":[18],"paper":[19],"we":[20],"extend":[21],"the":[22,50,61,71],"geometric":[23],"variational":[24],"algorithm":[25],"introduced":[26],"[1]":[28],"to":[29],"optimize":[30],"gaits":[31,43,65],"kinematic":[33],"with":[35],"three":[36],"shape":[37],"variables.":[38],"We":[39,58],"then":[40,59],"obtain":[41],"optimal":[42,64],"a":[45,74,76,86],"variety":[46],"of":[47,55,63,73],"including":[49],"four-link":[51],"swimmer":[52],"(an":[53],"extension":[54],"Purcell's":[56],"swimmer).":[57,90],"compare":[60],"efficiency":[62],"these":[67],"systems,":[68],"which":[69],"highlights":[70],"benefits":[72],"using":[75],"basis":[77,88],"that":[78],"allows":[79],"continuous":[81],"curvature":[82],"(serpenoid":[83],"swimmer)":[84],"over":[85],"discrete":[87],"(Purcell's":[89]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
