{"id":"https://openalex.org/W2765089336","doi":"https://doi.org/10.3390/robotics6040027","title":"HexaMob\u2014A Hybrid Modular Robotic Design for Implementing Biomimetic Structures","display_name":"HexaMob\u2014A Hybrid Modular Robotic Design for Implementing Biomimetic Structures","publication_year":2017,"publication_date":"2017-10-16","ids":{"openalex":"https://openalex.org/W2765089336","doi":"https://doi.org/10.3390/robotics6040027","mag":"2765089336"},"language":"en","primary_location":{"id":"doi:10.3390/robotics6040027","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6040027","pdf_url":"https://www.mdpi.com/2218-6581/6/4/27/pdf?version=1508153606","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/6/4/27/pdf?version=1508153606","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Sasanka CH.","orcid":"https://orcid.org/0000-0003-1371-4187"},"institutions":[{"id":"https://openalex.org/I4210148827","display_name":"Birla Institute of Technology and Science, Pilani - Goa Campus","ror":"https://ror.org/046sh6j17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210148827","https://openalex.org/I74796645"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Sasanka CH.","raw_affiliation_strings":["Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India"],"raw_orcid":"https://orcid.org/0000-0003-1371-4187","affiliations":[{"raw_affiliation_string":"Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India","institution_ids":["https://openalex.org/I4210148827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014857274","display_name":"Sharath patlolla","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148827","display_name":"Birla Institute of Technology and Science, Pilani - Goa Campus","ror":"https://ror.org/046sh6j17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210148827","https://openalex.org/I74796645"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sharath Patlolla","raw_affiliation_strings":["Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India","institution_ids":["https://openalex.org/I4210148827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111149834","display_name":"Anita Agrawal","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148827","display_name":"Birla Institute of Technology and Science, Pilani - Goa Campus","ror":"https://ror.org/046sh6j17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210148827","https://openalex.org/I74796645"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Anita Agrawal","raw_affiliation_strings":["Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India","institution_ids":["https://openalex.org/I4210148827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083527263","display_name":"K. R. Anupama","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148827","display_name":"Birla Institute of Technology and Science, Pilani - Goa Campus","ror":"https://ror.org/046sh6j17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210148827","https://openalex.org/I74796645"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Anupama K. R.","raw_affiliation_strings":["Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Birla Institute of Technology & Science (BITS) Pilani, K.K Birla Goa Campus, Goa, 403726, India","institution_ids":["https://openalex.org/I4210148827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210148827"],"apc_list":{"value":1800,"currency":"CHF","value_usd":2172},"apc_paid":{"value":1800,"currency":"CHF","value_usd":2172},"fwci":0.1708,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.52140975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"6","issue":"4","first_page":"27","last_page":"27"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9801999926567078,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.955299973487854,"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/modular-design","display_name":"Modular design","score":0.9206784963607788},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.8920061588287354},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6990339756011963},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5909956693649292},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5697956085205078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5485048890113831},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5116017460823059},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5040727853775024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45612633228302},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42510825395584106},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.34520983695983887},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32765674591064453},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.327253520488739},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1704760491847992}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.9206784963607788},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.8920061588287354},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6990339756011963},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5909956693649292},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5697956085205078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5485048890113831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5116017460823059},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5040727853775024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45612633228302},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42510825395584106},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34520983695983887},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32765674591064453},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.327253520488739},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1704760491847992},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics6040027","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6040027","pdf_url":"https://www.mdpi.com/2218-6581/6/4/27/pdf?version=1508153606","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5ddf92aff9cc42c58087c50660f1d683","is_oa":true,"landing_page_url":"https://doaj.org/article/5ddf92aff9cc42c58087c50660f1d683","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 6, Iss 4, p 27 (2017)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/6/4/27/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics6040027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 6; Issue 4; Pages: 27","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics6040027","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6040027","pdf_url":"https://www.mdpi.com/2218-6581/6/4/27/pdf?version=1508153606","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2765089336.pdf","grobid_xml":"https://content.openalex.org/works/W2765089336.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W166996824","https://openalex.org/W631244818","https://openalex.org/W1489108251","https://openalex.org/W1549395960","https://openalex.org/W1861506207","https://openalex.org/W1909393615","https://openalex.org/W1967121867","https://openalex.org/W1973791928","https://openalex.org/W1976620677","https://openalex.org/W1981647640","https://openalex.org/W1988251166","https://openalex.org/W1994444307","https://openalex.org/W2000355015","https://openalex.org/W2001737450","https://openalex.org/W2009721615","https://openalex.org/W2029800059","https://openalex.org/W2038425025","https://openalex.org/W2040226189","https://openalex.org/W2082006358","https://openalex.org/W2091581983","https://openalex.org/W2102228268","https://openalex.org/W2106675317","https://openalex.org/W2110410244","https://openalex.org/W2112764944","https://openalex.org/W2115498595","https://openalex.org/W2121795633","https://openalex.org/W2123133133","https://openalex.org/W2124145877","https://openalex.org/W2124281621","https://openalex.org/W2138081545","https://openalex.org/W2139841931","https://openalex.org/W2141271238","https://openalex.org/W2149841830","https://openalex.org/W2151648288","https://openalex.org/W2152735424","https://openalex.org/W2153315991","https://openalex.org/W2164304210","https://openalex.org/W2164992445","https://openalex.org/W2167382904","https://openalex.org/W2167983353","https://openalex.org/W2208088871","https://openalex.org/W2252991113","https://openalex.org/W2258094861","https://openalex.org/W2327641627","https://openalex.org/W2347780155","https://openalex.org/W2408862423","https://openalex.org/W2564145065","https://openalex.org/W2602942583","https://openalex.org/W2604179289","https://openalex.org/W2611249747","https://openalex.org/W2741509917","https://openalex.org/W2770898311","https://openalex.org/W4235135509","https://openalex.org/W6676913455","https://openalex.org/W6678080946","https://openalex.org/W6682666348","https://openalex.org/W6735963245"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W4387322618","https://openalex.org/W2064761790","https://openalex.org/W2247893165","https://openalex.org/W3158732870","https://openalex.org/W2101970395","https://openalex.org/W1983823126","https://openalex.org/W3210322278"],"abstract_inverted_index":{"Modular":[0],"robots":[1],"are":[2,67,175],"capable":[3,69],"of":[4,18,31,50,56,70,119,140,159,165,180],"forming":[5,71],"primitive":[6],"shapes":[7],"such":[8,26,72,168,204],"as":[9,169,197,199,205],"lattice":[10],"and":[11,33,96,106,146,173],"chain":[12],"structures":[13,23,203],"with":[14,156],"the":[15,45,48,61,117,178,193],"additional":[16],"flexibility":[17],"distributed":[19],"sensing.":[20],"The":[21,75,162,183],"biomimetic":[22],"developed":[24],"using":[25,189],"modular":[27,51,64,76,83,120,131,166],"units":[28,53,66],"provides":[29],"ease":[30],"replacement":[32],"reconfiguration":[34],"in":[35,40,47,54,60,82,88,116,177,195,201],"co-ordinated":[36,202],"structures,":[37,90,103],"transportation":[38],"etc.":[39,105],"real":[41],"life":[42],"scenarios.":[43],"Though":[44],"research":[46,85],"employment":[49],"robotic":[52,65,77,108,133],"formation":[55],"biological":[57],"organisms":[58],"is":[59,187],"nascent":[62],"stage,":[63],"already":[68],"sophisticated":[73],"structures.":[74],"designs":[78],"proposed":[79,184],"so":[80],"far":[81],"robotics":[84,121,167],"vary":[86],"significantly":[87],"external":[89],"sensor-actuator":[91,160],"mechanisms":[92],"interfaces":[93],"for":[94,99,144,149],"docking":[95,185,196],"undocking,":[97],"techniques":[98],"providing":[100],"mobility,":[101],"coordinated":[102],"locomotions":[104],"each":[107],"design":[109,134],"attempted":[110],"to":[111],"address":[112],"various":[113],"challenges":[114],"faced":[115],"domain":[118],"by":[122],"employing":[123],"different":[124],"strategies.":[125],"This":[126],"paper":[127],"presents":[128],"a":[129,153],"novel":[130],"wheeled":[132],"-":[135],"HexaMob":[136,181],"facilitating":[137],"four":[138],"degrees":[139,143,148],"freedom":[141],"(2":[142],"mobility":[145],"2":[147],"structural":[150],"reconfiguration)":[151],"on":[152],"single":[154],"module":[155],"minimal":[157],"usage":[158],"assemblies.":[161],"crucial":[163],"features":[164],"back-driving":[170],"restriction,":[171],"docking,":[172],"navigation":[174,200],"addressed":[176],"process":[179],"design.":[182],"mechanism":[186],"enabled":[188],"vision":[190],"sensor,":[191],"enhancing":[192],"capabilities":[194],"well":[198],"humanoid":[206],"robots.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}