{"id":"https://openalex.org/W3092132586","doi":"https://doi.org/10.1109/mra.2020.3024001","title":"Underwater Mobile Manipulation: A Soft Arm on a Benthic Legged Robot","display_name":"Underwater Mobile Manipulation: A Soft Arm on a Benthic Legged Robot","publication_year":2020,"publication_date":"2020-10-07","ids":{"openalex":"https://openalex.org/W3092132586","doi":"https://doi.org/10.1109/mra.2020.3024001","mag":"3092132586"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2020.3024001","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"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/A5100390380","display_name":"Jiaqi Liu","orcid":"https://orcid.org/0000-0003-2958-9309"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046305853","display_name":"Saverio Iacoponi","orcid":"https://orcid.org/0000-0001-7790-2748"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Saverio Iacoponi","raw_affiliation_strings":["BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002423609","display_name":"Li Wen","orcid":"https://orcid.org/0000-0002-1498-3103"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Wen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008979319","display_name":"Marcello Calisti","orcid":"https://orcid.org/0000-0002-2590-188X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marcello Calisti","raw_affiliation_strings":["BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.628,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.999974,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"27","issue":"4","first_page":"12","last_page":"26"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Work space","score":0.62940496},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft Robotics","score":0.47246432}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8120823},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6608569},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.62940496},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.59722894},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.53836846},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.52756304},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.52315795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49999952},{"id":"https://openalex.org/C83042747","wikidata":"https://www.wikidata.org/wiki/Q686881","display_name":"Benthic zone","level":2,"score":0.49791384},{"id":"https://openalex.org/C152382732","wikidata":"https://www.wikidata.org/wiki/Q468756","display_name":"Shore","level":2,"score":0.48495483},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.47246432},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43129224},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4293156},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.41110164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40840396},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36487725},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36462334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33638045},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.1791614},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16965157},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2020.3024001","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"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","score":0.74,"display_name":"Affordable and clean energy"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":31,"referenced_works":["https://openalex.org/W1525957078","https://openalex.org/W1535739149","https://openalex.org/W1560270123","https://openalex.org/W1981574184","https://openalex.org/W1991443363","https://openalex.org/W2000573734","https://openalex.org/W2009162874","https://openalex.org/W2027454283","https://openalex.org/W2033146663","https://openalex.org/W2038754967","https://openalex.org/W2053232578","https://openalex.org/W2079071266","https://openalex.org/W2081154461","https://openalex.org/W2097690188","https://openalex.org/W2158730742","https://openalex.org/W2296718990","https://openalex.org/W2566210125","https://openalex.org/W2593610497","https://openalex.org/W2624978006","https://openalex.org/W2746752553","https://openalex.org/W2752368885","https://openalex.org/W2782435507","https://openalex.org/W2799436222","https://openalex.org/W2888891127","https://openalex.org/W2893780659","https://openalex.org/W2894567635","https://openalex.org/W2963471692","https://openalex.org/W2979527140","https://openalex.org/W3025180790","https://openalex.org/W3041885040","https://openalex.org/W3080411077"],"related_works":["https://openalex.org/W4313396808","https://openalex.org/W4312775716","https://openalex.org/W3215364825","https://openalex.org/W2948205948","https://openalex.org/W2785936034","https://openalex.org/W2550148904","https://openalex.org/W2187522440","https://openalex.org/W2166952698","https://openalex.org/W2084494155","https://openalex.org/W1965545424"],"abstract_inverted_index":{"Robotic":[0],"systems":[1],"that":[2,42],"can":[3],"explore":[4],"the":[5,47,79],"sea":[6],"floor,":[7],"collect":[8],"marine":[9],"samples,":[10],"gather":[11],"shallow":[12],"water":[13],"refuse,":[14],"and":[15,22,29,54,76,86],"perform":[16,59],"other":[17],"underwater":[18,61],"tasks":[19],"are":[20],"interesting":[21],"important":[23],"in":[24,72,89],"several":[25],"fields,":[26],"from":[27],"biology":[28],"ecology":[30],"to":[31,44,49,58],"off-shore":[32],"industry.":[33],"In":[34],"this":[35],"article,":[36],"we":[37],"present":[38],"a":[39,73],"robotic":[40],"platform":[41],"is,":[43],"our":[45],"knowledge,":[46],"first":[48],"combine":[50],"benthic":[51],"legged":[52],"locomotion":[53],"soft":[55],"continuum":[56],"manipulation":[57,71],"real-world":[60],"mission-like":[62],"experiments.":[63],"We":[64],"experimentally":[65],"exploit":[66],"inverse":[67],"kinematics":[68],"for":[69],"spatial":[70],"laboratory":[74],"environment":[75],"then":[77],"examine":[78],"robot's":[80],"workspace":[81],"extensibility,":[82],"force,":[83],"energy":[84],"consumption,":[85],"grasping":[87],"ability":[88],"different":[90],"undersea":[91],"scenarios.":[92]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3092132586","counts_by_year":[{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2025-01-06T09:34:58.394774","created_date":"2020-10-15"}