{"id":"https://openalex.org/W3090341234","doi":"https://doi.org/10.1109/icra40945.2020.9196880","title":"A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots","display_name":"A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090341234","doi":"https://doi.org/10.1109/icra40945.2020.9196880","mag":"3090341234"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196880","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/A5013150477","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0001-6759-709X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058422506","display_name":"Sencheng Yu","orcid":"https://orcid.org/0000-0003-4892-5806"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sencheng Yu","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.347,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.999773,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":92},"biblio":{"volume":null,"issue":null,"first_page":"8260","last_page":"8266"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Self-Reconfigurable Robotic Systems and Modular Robotics","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":"Self-Reconfigurable Robotic Systems and Modular Robotics","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/T11737","display_name":"4D Printing Technologies","score":0.9903,"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/T10868","display_name":"Design and Control of Soft Robotic Systems","score":0.9871,"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/control-reconfiguration","display_name":"Control reconfiguration","score":0.844545},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.69835615},{"id":"https://openalex.org/keywords/self-reconfiguration","display_name":"Self-Reconfiguration","score":0.549185},{"id":"https://openalex.org/keywords/microscale-self-assembly","display_name":"Microscale Self-Assembly","score":0.506571},{"id":"https://openalex.org/keywords/kinematic-modeling","display_name":"Kinematic Modeling","score":0.503671},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft Robotics","score":0.50359},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4784353}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.844545},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.74809504},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.73496264},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.69835615},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.63138497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.56557477},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.53807855},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5124462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5087772},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4784353},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.43195295},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24028614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16422799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11827317},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.09905955},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08582169},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06927636},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"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/10.1109/icra40945.2020.9196880","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.74}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1489108251","https://openalex.org/W1972590691","https://openalex.org/W1973791928","https://openalex.org/W2045155153","https://openalex.org/W2050673234","https://openalex.org/W2101392651","https://openalex.org/W2115045036","https://openalex.org/W2141271238","https://openalex.org/W2149841830","https://openalex.org/W2775410230","https://openalex.org/W2775588140","https://openalex.org/W2888511464","https://openalex.org/W2963148304","https://openalex.org/W3003358174","https://openalex.org/W650806737"],"related_works":["https://openalex.org/W51472912","https://openalex.org/W4362722828","https://openalex.org/W4361020386","https://openalex.org/W4236870338","https://openalex.org/W4205835231","https://openalex.org/W3151495635","https://openalex.org/W2375652671","https://openalex.org/W2370788183","https://openalex.org/W2016917053","https://openalex.org/W1679315481"],"abstract_inverted_index":{"The":[0],"Variable":[1],"Topology":[2],"Truss":[3],"(VTT)":[4],"is":[5,77,101],"a":[6,57,81,92,95,115],"new":[7,73],"class":[8],"of":[9,40,52,91],"self-reconfigurable":[10],"robot":[11],"that":[12],"can":[13],"reconfigure":[14],"its":[15],"truss":[16],"shape":[17,53],"and":[18,29,61,83],"topology":[19,62],"depending":[20],"on":[21,67,80],"the":[22,68,88],"task":[23],"or":[24],"environment":[25],"requirements.":[26],"Motion":[27],"planning":[28],"avoiding":[30],"self-collision":[31],"are":[32,48],"difficult":[33],"as":[34],"these":[35],"systems":[36],"usually":[37],"have":[38],"dozens":[39],"degrees-of-freedom":[41],"with":[42],"complex":[43],"intersecting":[44],"parallel":[45],"actuation.":[46],"There":[47],"two":[49],"different":[50],"types":[51],"changing":[54],"actions":[55],"for":[56,108],"VTT:":[58],"geometry":[59,69],"reconfiguration":[60,70,109],"reconfiguration.":[63],"This":[64],"paper":[65],"focuses":[66],"actions.":[71],"A":[72,97],"cell":[74],"decomposition":[75],"approach":[76],"presented":[78],"based":[79],"fast":[82],"complete":[84],"method":[85,100],"to":[86,103],"compute":[87],"collision-free":[89],"space":[90],"node":[93,113],"in":[94],"truss.":[96],"simple":[98],"shape-morphing":[99],"shown":[102],"quickly":[104],"create":[105],"motion":[106],"paths":[107],"by":[110],"moving":[111],"one":[112],"at":[114],"time.":[116]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3090341234","counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5}],"updated_date":"2024-11-30T07:23:03.287352","created_date":"2020-10-08"}
