{"id":"https://openalex.org/W2936006409","doi":"https://doi.org/10.1017/s0263574719000389","title":"Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot","display_name":"Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot","publication_year":2019,"publication_date":"2019-04-10","ids":{"openalex":"https://openalex.org/W2936006409","doi":"https://doi.org/10.1017/s0263574719000389","mag":"2936006409"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000389","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5010861028","display_name":"Ruoyu Feng","orcid":"https://orcid.org/0000-0001-5226-1905"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruoyu Feng","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100364046","display_name":"Peng Zhang","orcid":"https://orcid.org/0000-0001-8237-1259"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhang","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450045","display_name":"Junfeng Li","orcid":"https://orcid.org/0000-0001-7672-5049"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Li","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086851456","display_name":"Hexi Baoyin","orcid":"https://orcid.org/0000-0002-6389-8677"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hexi Baoyin","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing 100084, China. E-mails:","institution_ids":["https://openalex.org/I99065089"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5086851456"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":1,"citation_normalized_percentile":{"value":0.362442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":61,"max":70},"biblio":{"volume":"37","issue":"11","first_page":"1971","last_page":"1986"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965,"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":[],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7687439},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6344683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6320258},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5685103},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5526569},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4938758},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.46810982},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46190315},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45515132},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.44985142},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37004888},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32255247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.250143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23876977},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14206246},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08321056},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06567353},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000389","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.79}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W1524850010","https://openalex.org/W1557098279","https://openalex.org/W1939016165","https://openalex.org/W1986771038","https://openalex.org/W1996154077","https://openalex.org/W2002515014","https://openalex.org/W2003896313","https://openalex.org/W2017545506","https://openalex.org/W2053919664","https://openalex.org/W2069669676","https://openalex.org/W2095271512","https://openalex.org/W2112059883","https://openalex.org/W2123431998","https://openalex.org/W2130508965","https://openalex.org/W2141360059","https://openalex.org/W2158971988","https://openalex.org/W2204970869","https://openalex.org/W2214952203","https://openalex.org/W2258393775","https://openalex.org/W2312644716","https://openalex.org/W2466751939","https://openalex.org/W2788127870","https://openalex.org/W4240215908"],"related_works":["https://openalex.org/W998473388","https://openalex.org/W4235013387","https://openalex.org/W2972304526","https://openalex.org/W2770397302","https://openalex.org/W2380210784","https://openalex.org/W2375415610","https://openalex.org/W2367567586","https://openalex.org/W2119963650","https://openalex.org/W2084494155","https://openalex.org/W1996912299"],"abstract_inverted_index":{"Summary":[0],"In":[1],"this":[2],"study,":[3],"the":[4,25,38,51,63,68,71,75,83,95],"kinematics":[5],"and":[6,21,37,60,62,91],"dynamics":[7],"of":[8,41,53,65,70],"a":[9,18],"single":[10],"actuator":[11],"wave":[12],"(SAW)-like":[13],"robot":[14,87,96],"are":[15,89],"explored.":[16],"Comprising":[17],"helical":[19],"spine":[20],"links,":[22],"SAW":[23,33,54],"has":[24],"potential":[26],"for":[27,32],"miniaturization.":[28],"A":[29],"kinematic":[30],"model":[31],"is":[34,43,55,79],"firstly":[35],"established,":[36],"dynamic":[39,77],"equation":[40],"motion":[42,52],"derived":[44],"based":[45],"on":[46],"Kane\u2019s":[47],"method.":[48],"For":[49],"validation,":[50],"simulated":[56],"using":[57],"both":[58],"MATLAB":[59],"ADAMS,":[61],"comparison":[64],"results":[66],"demonstrates":[67],"effectiveness":[69],"theoretical":[72],"models.":[73],"Then":[74],"inverse":[76],"analysis":[78],"performed":[80],"to":[81,93],"reveal":[82],"power":[84],"consumption.":[85],"Finally,":[86],"prototypes":[88],"developed":[90],"tested":[92],"confirm":[94],"velocity":[97],"predicted":[98],"by":[99],"simulations.":[100]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2936006409","counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2024-12-07T19:22:30.258820","created_date":"2019-04-25"}