{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T11:48:36Z","timestamp":1784116116648,"version":"3.55.0"},"reference-count":23,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2019,10,5]],"date-time":"2019-10-05T00:00:00Z","timestamp":1570233600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,10,5]],"date-time":"2019-10-05T00:00:00Z","timestamp":1570233600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Artif Life Robotics"],"published-print":{"date-parts":[[2020,2]]},"DOI":"10.1007\/s10015-019-00563-9","type":"journal-article","created":{"date-parts":[[2019,10,5]],"date-time":"2019-10-05T09:03:56Z","timestamp":1570266236000},"page":"100-105","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Deformable tensegrity structure underwater robot with a transformation mechanism"],"prefix":"10.1007","volume":"25","author":[{"given":"Mizuho","family":"Shibata","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Norimitsu","family":"Sakagami","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2019,10,5]]},"reference":[{"issue":"4","key":"563_CR1","doi-asserted-by":"publisher","first-page":"462","DOI":"10.1109\/JOE.1985.1145131","volume":"10","author":"D Yoerger","year":"1985","unstructured":"Yoerger D, Slotine J (1985) Robust trajectory control of underwater vehicles. IEEE J Ocean Eng 10(4):462\u2013470","journal-title":"IEEE J Ocean Eng"},{"key":"563_CR2","doi-asserted-by":"publisher","first-page":"33064","DOI":"10.1109\/ACCESS.2019.2903833","volume":"7","author":"J Cui","year":"2019","unstructured":"Cui J, Zhao L, Yu J, Lin C, Ma Y (2019) Neural network-based adaptive finite-time consensus tracking control for multiple autonomous underwater vehicles. IEEE Access 7:33064\u201333074","journal-title":"IEEE Access"},{"key":"563_CR3","doi-asserted-by":"crossref","unstructured":"Takagawa S, Takahashi K, Sano T, Kyo M, Mori Y, Nakanishi T (1989) 6,500m deep manned research submersible Shinkai 6500 system. In: Proceeding of OCEANS, pp 741\u2013746","DOI":"10.1109\/OCEANS.1989.586672"},{"key":"563_CR4","doi-asserted-by":"publisher","first-page":"2333","DOI":"10.1109\/LRA.2019.2902744","volume":"4","author":"T Matsuda","year":"2019","unstructured":"Matsuda T, Maki T, Sakamaki T (2019) Accurate and efficient seafloor observations with multiple autonomous underwater vehicles: theory and experiments in a hydrothermal vent field. IEEE Robot Autom Lett 4:2333\u20132339","journal-title":"IEEE Robot Autom Lett"},{"key":"563_CR5","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1007\/BF00141159","volume":"3","author":"TJ Tarn","year":"1996","unstructured":"Tarn TJ, Shoults GA, Yang SP (1996) A dynamic model of an underwater vehicle with a robotic manipulator using Kane\u2019s method. Auton Robots 3:269\u2013283","journal-title":"Auton Robots"},{"key":"563_CR6","unstructured":"Leabourne KN, Rock SM (1998) Model development of an underwater manipulator for coordinated arm-vehicle control. In: Proceedings of OCEANS \u201998 conference, pp 941\u2013946"},{"key":"563_CR7","doi-asserted-by":"publisher","first-page":"979","DOI":"10.1109\/TMECH.2019.2908242","volume":"24","author":"F Xu","year":"2019","unstructured":"Xu F, Wang H, Wang J, Au KWS, Chen W (2019) Underwater dynamic visual servoing for a soft robot arm with online distortion correction. IEEE\/ASME Trans Mechatron 24:979\u2013989","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"563_CR8","volume-title":"Biologically inspired robots: snake-like locomotors and manipulators","author":"S Hirose","year":"1993","unstructured":"Hirose S (1993) Biologically inspired robots: snake-like locomotors and manipulators. Oxford University Press, Oxford"},{"key":"563_CR9","unstructured":"Togawa K, Mori M, Hirose S (2000) Study on Threedimensional Active Cord Mechanism: development of ACMR2. In: Proceedings of the 2000 IEEE\/RSJ international conference on intelligent robots and systems, pp 2242\u20132247"},{"key":"563_CR10","unstructured":"Yamamoto I, Terada Y (2003) Robotic fish and its technology. In: Proceedings of the SICE annual conference"},{"issue":"1","key":"563_CR11","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1109\/TMECH.2011.2175004","volume":"17","author":"Z Chunlin","year":"2012","unstructured":"Chunlin Z, Low KH (2012) Design and locomotion control of a biomimetic underwater vehicle with fin propulsion. IEEE\/ASME Trans Mechatron 17(1):25\u201335","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"563_CR12","doi-asserted-by":"publisher","first-page":"60042","DOI":"10.1109\/ACCESS.2019.2915160","volume":"7","author":"H Wang","year":"2019","unstructured":"Wang H, Wang D, Wang T, Zhang Y, Gu N (2019) Adaptive cooperative diving of saucer-type underwater gliders subject to model uncertainties and input constraints. IEEE Access 7:60042\u201360054","journal-title":"IEEE Access"},{"issue":"4","key":"563_CR13","doi-asserted-by":"publisher","first-page":"424","DOI":"10.1109\/48.972073","volume":"26","author":"CC Eriksen","year":"2001","unstructured":"Eriksen CC, Osse TJ, Light RD, Wen T, Lehman TW, Sabin PL, Ballard JW, Chiodi AM (2001) Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE J Ocean Eng 26(4):424\u2013436","journal-title":"IEEE J Ocean Eng"},{"issue":"4","key":"563_CR14","doi-asserted-by":"publisher","first-page":"437","DOI":"10.1109\/48.972076","volume":"26","author":"J Sherman","year":"2001","unstructured":"Sherman J, Davis RE, Owens WB, Valdes J (2001) The autonomous underwater glider \u201cSpray\u201d. IEEE J Ocean Eng 26(4):437\u2013446","journal-title":"IEEE J Ocean Eng"},{"key":"563_CR15","doi-asserted-by":"crossref","unstructured":"Doniec M, Vasilescu I, Detweiler C, Rus D (2010) Complete SE3 underwater robot control with arbitrary thruster configurations. In: Proceedings of 2010 IEEE international conference on robotics and automation, pp 5295\u20135301","DOI":"10.1109\/ROBOT.2010.5509538"},{"issue":"5","key":"563_CR16","doi-asserted-by":"publisher","first-page":"804","DOI":"10.20965\/jrm.2013.p0804","volume":"25","author":"M Shibata","year":"2013","unstructured":"Shibata M, Miyamura T, Sakagami N, Miyata S (2013) Use of a deformable tensegrity structure as an underwater robot body. J Robot Mechatron 25(5):804\u2013811","journal-title":"J Robot Mechatron"},{"key":"563_CR17","doi-asserted-by":"crossref","unstructured":"Shibata M, Sakagami N (2014) A portable underwater robot with tensegrity body composed of thruster units. In: Mobile service robotics (CLAWAR2014), pp 503\u2013510","DOI":"10.1142\/9789814623353_0059"},{"key":"563_CR18","unstructured":"\u201ckennethsnelson.net.\u201d. \nhttp:\/\/www.kennethsnelson.net\/"},{"issue":"5","key":"563_CR19","doi-asserted-by":"publisher","first-page":"944","DOI":"10.1109\/TRO.2006.878980","volume":"22","author":"C Paul","year":"2006","unstructured":"Paul C, Valero-Cuevas FJ, Lipson H (2006) Design and control of tensegrity robots for locomotion. IEEE Trans Robot 22(5):944\u2013957","journal-title":"IEEE Trans Robot"},{"key":"563_CR20","doi-asserted-by":"publisher","first-page":"63472","DOI":"10.1109\/ACCESS.2019.2916681","volume":"7","author":"D Fadeyev","year":"2019","unstructured":"Fadeyev D, Zhakatayev A, Kuzdeuov A, Varol HA (2019) Generalized dynamics of stacked tensegrity manipulators. IEEE Access 7:63472\u201363484","journal-title":"IEEE Access"},{"key":"563_CR21","doi-asserted-by":"publisher","first-page":"2249","DOI":"10.1109\/TMECH.2016.2519559","volume":"21","author":"W Du","year":"2016","unstructured":"Du W, Ma S, Li B, Wang M, Hirai S (2016) Force analytic method for rolling gaits of tensegrity robots. IEEE\/ASME Trans Mechatron 21:2249\u20132259","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"563_CR22","doi-asserted-by":"publisher","first-page":"586","DOI":"10.1109\/TMECH.2012.2210905","volume":"18","author":"T Bliss","year":"2013","unstructured":"Bliss T, Iwasaki T, Smith HB (2013) Central pattern generator control of a tensegrity swimmer. IEEE\/ASME Trans Mechatron 18:586\u2013597","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"563_CR23","doi-asserted-by":"crossref","unstructured":"Shibata M, Saijyo F, Hirai S (2009) Crawling by body deformation of tensegrity structure robots. In: IEEE international conference on robotics and automation, pp 4375\u20134380","DOI":"10.1109\/ROBOT.2009.5152752"}],"container-title":["Artificial Life and Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-019-00563-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10015-019-00563-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-019-00563-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,10,3]],"date-time":"2020-10-03T23:19:42Z","timestamp":1601767182000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10015-019-00563-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,5]]},"references-count":23,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2020,2]]}},"alternative-id":["563"],"URL":"https:\/\/doi.org\/10.1007\/s10015-019-00563-9","relation":{},"ISSN":["1433-5298","1614-7456"],"issn-type":[{"value":"1433-5298","type":"print"},{"value":"1614-7456","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,10,5]]},"assertion":[{"value":"24 April 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 September 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 October 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}