{"id":"https://openalex.org/W1582636969","doi":"https://doi.org/10.1109/icra.2015.7139716","title":"Analysis of rectilinear motion of a three-segment snake robot under action of dry friction","display_name":"Analysis of rectilinear motion of a three-segment snake robot under action of dry friction","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1582636969","doi":"https://doi.org/10.1109/icra.2015.7139716","mag":"1582636969"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5101147842","display_name":"Wenbin Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wenbin Tang","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Japan","School of Electrical Engineering & Automation, Tianjin University, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering & Automation, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.872,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":8,"citation_normalized_percentile":{"value":0.871056,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":84,"max":85},"biblio":{"volume":"66","issue":null,"first_page":"3723","last_page":"3728"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9986,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9986,"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":0.9979,"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/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9952,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dry-friction","display_name":"Dry friction","score":0.47253966}],"concepts":[{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.6254115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.57324195},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.54117393},{"id":"https://openalex.org/C2987647002","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Dry friction","level":2,"score":0.47253966},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46262738},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.42317912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39167768},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.38771954},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.37252373},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.36386475},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3576762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2530589},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.18893835},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.15479875},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.78}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":18,"referenced_works":["https://openalex.org/W1543750907","https://openalex.org/W1939016165","https://openalex.org/W1985865014","https://openalex.org/W2004910967","https://openalex.org/W2016469014","https://openalex.org/W2042356665","https://openalex.org/W2071780273","https://openalex.org/W2089876099","https://openalex.org/W2102252220","https://openalex.org/W2107806810","https://openalex.org/W2123297103","https://openalex.org/W2126277076","https://openalex.org/W2136684951","https://openalex.org/W2138404216","https://openalex.org/W2140516362","https://openalex.org/W2467667794","https://openalex.org/W2484971506","https://openalex.org/W575175539"],"related_works":["https://openalex.org/W4382753160","https://openalex.org/W4302435351","https://openalex.org/W4298134547","https://openalex.org/W2794789911","https://openalex.org/W2745808456","https://openalex.org/W2353304365","https://openalex.org/W2284229495","https://openalex.org/W2122976425","https://openalex.org/W2088773039","https://openalex.org/W1994881304"],"abstract_inverted_index":{"Snakes":[0],"and":[1,69,74,128],"worms":[2],"are":[3,77],"capable":[4],"of":[5,22,40,67,91,99,110,116,130],"travelling":[6],"along":[7],"a":[8,12,41,46],"straight":[9],"line":[10],"on":[11,45],"resistance":[13],"medium":[14],"using":[15],"rectilinear":[16],"locomotion.":[17],"To":[18,93],"apply":[19],"this":[20,33],"kind":[21],"gait":[23],"in":[24],"snake-inspired":[25],"robots,":[26],"some":[27],"fundamental":[28],"properties":[29],"remain":[30],"elusive.":[31],"In":[32],"paper,":[34],"we":[35,102],"study":[36],"the":[37,56,59,65,82,89,95,100,107,111,125,131],"directional":[38,62],"migration":[39,63],"three-segment":[42],"self-propelled":[43],"system":[44,60,83,113],"rough":[47],"horizontal":[48],"surface":[49],"with":[50],"Coulomb's":[51],"dry":[52],"friction.":[53],"We":[54],"elucidate":[55],"possibility":[57],"that":[58,81,121],"achieves":[61],"through":[64],"propagation":[66],"extension":[68],"contraction":[70],"wave.":[71],"The":[72],"necessary":[73],"sufficient":[75],"conditions":[76],"certified":[78],"to":[79,86],"insure":[80],"is":[84,119],"able":[85],"start":[87],"from":[88],"state":[90],"rest.":[92],"analyze":[94],"approximately":[96],"steady-state":[97],"motion":[98,132],"system,":[101],"provide":[103],"explicit":[104],"formulas":[105],"for":[106,122],"mean":[108],"velocity":[109],"whole":[112],"by":[114],"method":[115],"averaging.":[117],"It":[118],"confirmed":[120],"isotropic":[123],"friction,":[124],"average":[126],"speed":[127],"direction":[129],"can":[133],"be":[134],"excited":[135],"controlled.":[136]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1582636969","counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2024-12-12T14:00:06.861633","created_date":"2016-06-24"}