{"id":"https://openalex.org/W4362679150","doi":"https://doi.org/10.48550/arxiv.2304.02129","title":"Proprioception and reaction for walking among entanglements","display_name":"Proprioception and reaction for walking among entanglements","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4362679150","doi":"https://doi.org/10.48550/arxiv.2304.02129"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2304.02129","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/abs/2304.02129","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068354203","display_name":"Justin K. Yim","orcid":"https://orcid.org/0000-0002-8593-7032"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yim, Justin K.","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064655707","display_name":"Jiming Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Jiming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031440143","display_name":"David Ologan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ologan, David","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026227118","display_name":"Selvin Garcia Gonzalez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gonzalez, Selvin Garcia","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5081925724","display_name":"Aaron M. Johnson","orcid":"https://orcid.org/0000-0002-1629-8329"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Johnson, Aaron M.","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":70},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9991,"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/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9991,"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/T12677","display_name":"Biomechanical Analysis of Golf Swing Performance","score":0.9809,"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":"Self-Reconfigurable Robotic Systems and Modular Robotics","score":0.9758,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/proprioception","display_name":"Proprioception","score":0.6254003},{"id":"https://openalex.org/keywords/dynamic-walking","display_name":"Dynamic Walking","score":0.538502},{"id":"https://openalex.org/keywords/legged-robots","display_name":"Legged Robots","score":0.535159},{"id":"https://openalex.org/keywords/control-of-locomotion","display_name":"Control of Locomotion","score":0.528967},{"id":"https://openalex.org/keywords/passive-dynamic-walkers","display_name":"Passive-Dynamic Walkers","score":0.51079},{"id":"https://openalex.org/keywords/graph-traversal","display_name":"Graph traversal","score":0.4654138}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.7218851},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6949961},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.6254003},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.62274414},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5988145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5962481},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.5151626},{"id":"https://openalex.org/C96333769","wikidata":"https://www.wikidata.org/wiki/Q907955","display_name":"Graph traversal","level":3,"score":0.4654138},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4504838},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.42475846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41757017},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36565974},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3013516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1950702},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.124643445},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09324366},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.091402024},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07713315},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07048443},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2304.02129","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2304.02129","pdf_url":"http://arxiv.org/pdf/2304.02129","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2304.02129","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2304.02129","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4254594467","https://openalex.org/W4252596799","https://openalex.org/W4230405657","https://openalex.org/W3213135344","https://openalex.org/W3183956626","https://openalex.org/W2552915643","https://openalex.org/W244044452","https://openalex.org/W2200188075","https://openalex.org/W2136735429","https://openalex.org/W170547082"],"abstract_inverted_index":{"Entanglements":[0],"like":[1],"vines":[2],"and":[3,10,30,44,91,101],"branches":[4],"in":[5,12,27,104,110],"natural":[6,117],"settings":[7],"or":[8,35],"cords":[9],"pipes":[11],"human":[13],"spaces":[14],"prevent":[15],"mobile":[16],"robots":[17,23],"from":[18],"accessing":[19],"many":[20,99],"environments.":[21],"Legged":[22],"should":[24],"be":[25],"effective":[26],"these":[28],"settings,":[29],"more":[31],"so":[32],"than":[33],"wheeled":[34],"tracked":[36],"platforms,":[37],"but":[38],"naive":[39],"controllers":[40],"quickly":[41],"become":[42],"entangled":[43],"stuck.":[45],"In":[46],"this":[47],"paper":[48],"we":[49],"present":[50],"a":[51,64,70,116],"method":[52],"for":[53],"proprioception":[54,90],"aimed":[55],"specifically":[56],"at":[57],"the":[58],"task":[59],"of":[60,63,96,98,107],"sensing":[61],"entanglements":[62,97],"robot's":[65],"legs":[66,75],"as":[67,69,80,113,115],"well":[68,114],"reaction":[71,92],"strategy":[72,93],"to":[73,83],"disentangle":[74],"during":[76],"their":[77,84],"swing":[78],"phase":[79],"they":[81],"advance":[82],"next":[85],"foothold.":[86],"We":[87],"demonstrate":[88],"our":[89],"enables":[94],"traversal":[95],"stiffnesses":[100],"geometries":[102],"succeeding":[103],"14":[105],"out":[106],"16":[108],"trials":[109],"laboratory":[111],"tests,":[112],"outdoor":[118],"environment.":[119]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4362679150","counts_by_year":[],"updated_date":"2024-10-29T03:17:23.838756","created_date":"2023-04-07"}
