{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T16:29:48Z","timestamp":1758817788702,"version":"3.37.3"},"reference-count":47,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2020,12,16]],"date-time":"2020-12-16T00:00:00Z","timestamp":1608076800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,12,16]],"date-time":"2020-12-16T00:00:00Z","timestamp":1608076800000},"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":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,1]]},"DOI":"10.1007\/s10846-020-01270-5","type":"journal-article","created":{"date-parts":[[2020,12,16]],"date-time":"2020-12-16T09:03:27Z","timestamp":1608109407000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["2DxoPod - A Modular Robot for Mimicking Locomotion in Vertebrates"],"prefix":"10.1007","volume":"101","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1371-4187","authenticated-orcid":false,"given":"S. Sankhar Reddy","family":"CH.","sequence":"first","affiliation":[]},{"family":"Abhimanyu","sequence":"additional","affiliation":[]},{"given":"Rohan","family":"Godiyal","sequence":"additional","affiliation":[]},{"given":"Tejas","family":"Zodage","sequence":"additional","affiliation":[]},{"given":"Tejas","family":"Rane","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,12,16]]},"reference":[{"key":"1270_CR1","doi-asserted-by":"publisher","first-page":"96","DOI":"10.1109\/MRA.2015.2482839","volume":"22","author":"F Sanfilippo","year":"2015","unstructured":"Sanfilippo, F., Hatledal, L. I., Zhang, H., Fago, M., Pettersen, K. Y.: Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenshowvar. IEEE Robot. Autom. Mag. 22, 96\u2013109 (2015)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1270_CR2","doi-asserted-by":"crossref","unstructured":"Calderon, C. A. A., Norouzi, A., Qi, Z.: Humanoid social robots: a design for interaction. 13th Int. Conf. Control Autom. Robot. Vis., 871\u2013876 (2014)","DOI":"10.1109\/ICARCV.2014.7064419"},{"key":"1270_CR3","unstructured":"Pratt, G. a.: Steps Being Taken at MIT\u2019s Leg Laboratory in Advancing Human-Like Walking in Robots. IEEE Robot. Autom. Mag. 16\u201319 (2000)"},{"key":"1270_CR4","doi-asserted-by":"crossref","unstructured":"Wooden, D., Malchano, M., Blankespoor, K., Howardy, A., Rizzi, A. A., Raibert, M.: Autonomous navigation for BigDog. Proc. - IEEE Int. Conf. Robot. Autom., 4736\u20134741 (2010)","DOI":"10.1109\/ROBOT.2010.5509226"},{"key":"1270_CR5","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1109\/6.981854","volume":"39","author":"M Yim","year":"2002","unstructured":"Yim, M., Duff, D.: Modular robots. IEEE Spectrum 39, 30\u201334 (2002)","journal-title":"IEEE Spectrum"},{"key":"1270_CR6","doi-asserted-by":"crossref","unstructured":"Yim, M., White, P., Park, M., Sastra, J.: Modular self-reconfigurable robots. Encycl. Complex. Syst., 19\u201333 (2009)","DOI":"10.1007\/978-0-387-30440-3_334"},{"key":"1270_CR7","doi-asserted-by":"crossref","unstructured":"Ahmadzadeh H., Masehian E., Asadpour M.: Modular Robotic Systems: Characteristics and Applications. J. Intell. Robot. Syst. 81, 317\u2013357. [yang paper] (2016)","DOI":"10.1007\/s10846-015-0237-8"},{"key":"1270_CR8","first-page":"1","volume":"2017","author":"SSR Chennareddy","year":"2017","unstructured":"Chennareddy, S. S. R., Agrawal, A., Karuppiah, A.: Modular Self-Reconfigurable robotic systems: a survey on hardware architectures. J. Robot. 2017, 1\u201319 (2017)","journal-title":"J. Robot."},{"key":"1270_CR9","doi-asserted-by":"crossref","unstructured":"Murata, S., Kurokawa, H., Yoshida, E., Tomita, K., Kokaji, S.: A 3-D self-reconfigurable structure. Proc. IEEE Int. Conf. Robot. Autom., 432\u2013439 (1998)","DOI":"10.1109\/ROBOT.1998.677012"},{"key":"1270_CR10","doi-asserted-by":"crossref","unstructured":"Rus, D., Vona, M.: A physical implementation of the self-reconfiguring crystalline robot. In: Proceedings IEEE International Conference on Robotics and Automation. Symposia Proceedings, pp. 1726\u20131733 (2000)","DOI":"10.1109\/ROBOT.2000.844845"},{"key":"1270_CR11","unstructured":"An, B. K.: EM-Cube: Cube-shaped, self-reconfigurable robots sliding on structure surfaces. Proceedings - IEEE International Conference on Robotics and Automation, pp. 3149\u20133155 (2008)"},{"key":"1270_CR12","doi-asserted-by":"crossref","unstructured":"Murata, S., Kurokawa, H., Kokaji, S.: Self-assembling machine. Proceedings of IEEE International Conference on Robotics and Automation, pp. 441\u2013448 (1994)","DOI":"10.1109\/ROBOT.1995.525759"},{"key":"1270_CR13","doi-asserted-by":"crossref","unstructured":"Romanishin, J. W., Gilpin, K., Claici, S., Rus, D., M-Blocks, 3D: Self-reconfiguring robots capable of locomotion via pivoting in three dimensions. IEEE International Conference on Robotics and Automation, pp. 1925\u20131932 (2015)","DOI":"10.1109\/ICRA.2015.7139450"},{"key":"1270_CR14","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1023\/A:1026592302259","volume":"10","author":"C \u00dcnsal","year":"2001","unstructured":"\u00dcnsal, C., Kili\u00e7\u00e7\u00f6te, H., Khosla, P. K.: Modular self-reconfigurable bipartite robotic system: Implementation and motion planning, Auton. Robots. 10, 23\u201340 (2001)","journal-title":"Robots."},{"key":"1270_CR15","doi-asserted-by":"crossref","unstructured":"Rubenstein, M., Payne, K., Will, P., Shen Wei-Min, S.: Docking among independent and autonomous CONRO self-reconfigurable robots. IEEE International Conference on Robotics and Automation, pp. 2877\u20132882 (2004)","DOI":"10.1109\/ROBOT.2004.1307497"},{"key":"1270_CR16","doi-asserted-by":"publisher","first-page":"1002","DOI":"10.1016\/j.robot.2013.08.008","volume":"62","author":"J Baca","year":"2014","unstructured":"Baca, J., Hossain, S. G. M., Dasgupta, P., Nelson, C. A., Dutta, A.: ModRED: Hardware design and reconfiguration planning for a high dexterity modular self-reconfigurable robot for extra-terrestrial exploration. Rob. Auton. Syst. 62, 1002\u20131015 (2014)","journal-title":"Rob. Auton. Syst."},{"key":"1270_CR17","doi-asserted-by":"publisher","first-page":"285","DOI":"10.1108\/01439910610667908","volume":"33","author":"R Moeckel","year":"2006","unstructured":"Moeckel, R., Jaquier, C., Drapel, K., Dittrich, E., Upegui, A., Jan Ijspeert, A.: Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface. Ind. Robot. Int. J. 33, 285\u2013290 (2006)","journal-title":"Ind. Robot. Int. J."},{"key":"1270_CR18","doi-asserted-by":"crossref","unstructured":"Zhu, Y., Jin, H., Zhang, X., Yin, J., Liu, P., Zhao, J.: A Multi-sensory Autonomous Docking Approach for a Self-reconfigurable Robot without Mechanical Guidance. Int. J. Adv. Robot. Syst., 11 (2014)","DOI":"10.5772\/58867"},{"key":"1270_CR19","doi-asserted-by":"crossref","unstructured":"Qiao, G., Song, G., Zhang, J., Sun, H., Wang, W., Song, A.: Design of transmote: a modular self-reconfigurable robot with versatile transformation capabilities. IEEE Int. Conf. Robot. Biomimetics (ROBIO), pp. 1331\u20131336 (2012)","DOI":"10.1109\/ROBIO.2012.6491153"},{"key":"1270_CR20","doi-asserted-by":"crossref","unstructured":"Schultz, U. P., Bordignon, M., Stoy, K.: Robust and reversible self-reconfiguration. IEEE\/RSJ Int. Conf. Intell. Robot. Syst. 5287\u20135294 (2009)","DOI":"10.1109\/IROS.2009.5354346"},{"key":"1270_CR21","doi-asserted-by":"crossref","unstructured":"Liedke, J., Matthias, R., Winkler, L., Worn, H.: The Collective Self-reconfigurable Modular Organism (coSMO). IEEE\/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, pp. 1\u20136 (2013)","DOI":"10.1109\/AIM.2013.6584059"},{"key":"1270_CR22","unstructured":"Parrott, C.: A hybrid and extendable self-reconfigurable modular robotic system. http:\/\/etheses.whiterose.ac.uk\/id\/eprint\/16759 (2016)"},{"key":"1270_CR23","doi-asserted-by":"crossref","unstructured":"Parrott, C., Dodd, T. J., Gross, R.: HiGen: A high-speed genderless mechanical connection mechanism with single-sided disconnect for self-reconfigurable modular robots. 2014 IEEE\/RSJ Int. Conf. Intell. Robot. Syst., 3926\u20133932 (2014)","DOI":"10.1109\/IROS.2014.6943114"},{"key":"1270_CR24","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1109\/TMECH.2002.806220","volume":"7","author":"S Murata","year":"2002","unstructured":"Murata, S., Yoshida, E., Kamimura, A., Kurokawa, H., Tomita, K., Kokaji, S.: M-TRAN: self-reconfigurable modular robotic system. IEEE\/ASME Trans. Mechatron. 7, 431\u2013441 (2002)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1270_CR25","unstructured":"Kurokawa, H., Kamimura, A., Yoshida, E., Tomita, K., Kokaji, S., Murata, S., II, M -T R A N: Metamorphosis from a four-legged walker to a caterpillar. Proc. Int. Conf. Intell. Robot. Syst. (IROS), 2454\u20132459 (2003)"},{"key":"1270_CR26","doi-asserted-by":"publisher","first-page":"373","DOI":"10.1177\/0278364907085560","volume":"27","author":"H Kurokawa","year":"2008","unstructured":"Kurokawa, H., Tomita, K., Kamimura, A., Kokaji, S., Hasuo, T., Murata, S.: Distributed Self-Reconfiguration of m-TRAN III modular robotic system. Int. J. Rob. Res. 27, 373\u2013386 (2008)","journal-title":"Int. J. Rob. Res."},{"key":"1270_CR27","doi-asserted-by":"crossref","unstructured":"Davey, J., Kwok, N., Yim, M.: Emulating self-reconfigurable robots - design of the SMORES system. IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4464\u20134469. IEEE (2012)","DOI":"10.1109\/IROS.2012.6385845"},{"key":"1270_CR28","doi-asserted-by":"crossref","unstructured":"Yim, M., Shirmohammadi, B., Sastra, J., Park, M., Dugan, M., Taylor, C. J.: Towards Robotic Self-Reassembly after Explosion. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2767\u20132772 (2007)","DOI":"10.1109\/IROS.2007.4399594"},{"key":"1270_CR29","unstructured":"Li, Y., Zhang, H., Chen, S.: A Four-Legged Robot Based on GZ-I Modules. In: IEEE International Conference on Robotics and Biomimetics, pp. 921\u2013926 (2008)"},{"key":"1270_CR30","doi-asserted-by":"crossref","unstructured":"Ryland, G. G., Cheng, H. H.: Design of iMobot, an Intelligent Reconfigurable Mobile Robot with Novel Locomotion. In: IEEE International Conference on Robotics and Automation, pp. 60\u201365 (2010)","DOI":"10.1109\/ROBOT.2010.5509359"},{"key":"1270_CR31","doi-asserted-by":"publisher","first-page":"9","DOI":"10.5772\/7256","volume":"7","author":"W Wang","year":"2010","unstructured":"Wang, W., Yu, W., Zhang, H.: JL-2: A mobile multi-robot system with docking and manipulating capabilities. Int. J. Adv. Robot. Syst. 7, 9\u201318 (2010)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"1270_CR32","doi-asserted-by":"crossref","unstructured":"Wolfe, K. C., Moses, M. S., Kutzer, M. D. M., Chirikjian, G. S., 3Express, M: A low-cost independently-mobile reconfigurable modular robot. In: Proceedings - IEEE International Conference on Robotics and Automation, pp. 2704\u20132710 (2012)","DOI":"10.1109\/ICRA.2012.6224971"},{"key":"1270_CR33","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1109\/TMECH.2002.806220","volume":"7","author":"S Murata","year":"2002","unstructured":"Murata, S., Yoshida, E., Kamimura, A., Kurokawa, H., Tomita, K., Kokaji, S.: M-TRAN: self-reconfigurable modular robotic system. IEEE\/ASME Trans. Mechatron. 7, 431\u2013441 (2002)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1270_CR34","unstructured":"Kurokawa, H., Kamimura, A, Yoshida, E., Tomita, K., Kokaji, S., Murata, S.: M-TRAN II: Metamorphosis from a four-legged walker to a caterpillar. In: Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2454\u20132459"},{"key":"1270_CR35","doi-asserted-by":"publisher","first-page":"373","DOI":"10.1177\/0278364907085560","volume":"27","author":"H Kurokawa","year":"2008","unstructured":"Kurokawa, H., Tomita, K., Kamimura, A., Kokaji, S., Hasuo, T., Murata, S.: Distributed Self-Reconfiguration of m-TRAN III modular robotic system. Int. J. Rob. Res. 27, 373\u2013386 (2008)","journal-title":"Int. J. Rob. Res."},{"key":"1270_CR36","doi-asserted-by":"crossref","unstructured":"Fang, Z., Fu, Y., Chai, T.: A Low-Cost Modular Robot for Research and Education of Control Systems, Mechatronics and Robotics. In: 4Th IEEE Conference on Industrial Electronics and Applications, pp. 2828\u20132833 (2009)","DOI":"10.1109\/ICIEA.2009.5138725"},{"key":"1270_CR37","doi-asserted-by":"crossref","unstructured":"Yim, M., Duff, D. G., Roufas, K. D.: Polybot: a Modular Reconfigurable Robot. In: IEEE International Conference on Robotics and Automation. Symposia Proceedings, pp. 514\u2013520. IEEE (2000)","DOI":"10.1109\/ROBOT.2000.844106"},{"key":"1270_CR38","doi-asserted-by":"crossref","unstructured":"Sproewitz, A., Laprade, P., Bonardi, S., Mayer, M., Moeckel, R., Mudry, P.A., Ijspeert, A.J.: Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules. IEEE\/RSJ 2010 Int. Conf. Intell. Robot. Syst., pp. 1126\u20131132 (2010)","DOI":"10.1109\/IROS.2010.5649504"},{"key":"1270_CR39","doi-asserted-by":"crossref","unstructured":"Salemi, B., Moll, M., Shen, W. M.: SUPERBOT: a Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System. In: IEEE International Conference on Intelligent Robots and Systems, pp. 3636\u20133641 (2006)","DOI":"10.1109\/IROS.2006.281719"},{"key":"1270_CR40","doi-asserted-by":"publisher","first-page":"377","DOI":"10.1007\/s10846-015-0228-9","volume":"81","author":"Y Zhang","year":"2016","unstructured":"Zhang, Y., Song, G., Liu, S., Qiao, G., Zhang, J., Sun, H.: A Modular Self-Reconfigurable Robot with Enhanced Locomotion Performances: Design, modeling, simulations, and experiments. J. Intell. Robot. Syst. Theory Appl. 81, 377\u2013393 (2016)","journal-title":"J. Intell. Robot. Syst. Theory Appl."},{"key":"1270_CR41","unstructured":"Tang, S. T. S., Zhu, Y. Z. Y., Zhao, J. Z. J., Cui, X. C. X.: The UBot Modules for Self-Reconfigurable Robot. In: ASME\/IFToMM International Conference on Reconfigurable Mechanisms and Robots, pp. 529\u2013535 (2009)"},{"key":"1270_CR42","doi-asserted-by":"crossref","unstructured":"Tosun, T., Davey, J., Liu, C., Yim, M.: Design and Characterization of the EP-Face Connector. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 45\u201351 (2016)","DOI":"10.1109\/IROS.2016.7759033"},{"key":"1270_CR43","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1007\/s10514-015-9441-4","volume":"40","author":"J Neubert","year":"2016","unstructured":"Neubert, J., Lipson, H.: Soldercubes: a self-soldering self-reconfiguring modular robot system. Auton. Robots. 40, 139\u2013158 (2016)","journal-title":"Auton. Robots."},{"key":"1270_CR44","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2016\/8760215","volume":"2016","author":"P Sutyasadi","year":"2016","unstructured":"Sutyasadi, P., Parnichkun, M.: Gait tracking control of quadruped robot using differential evolution based structure specified mixed sensitivity. Robust Con. J. Control Sci. Eng. 2016, 1\u201318 (2016)","journal-title":"Robust Con. J. Control Sci. Eng."},{"key":"1270_CR45","doi-asserted-by":"publisher","first-page":"e01053","DOI":"10.1016\/j.heliyon.2018.e01053","volume":"4","author":"MMU Atique","year":"2018","unstructured":"Atique, M. M. U., Sarker, M. R. I., Ahad, M. A. R.: Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention. Heliyon. 4, e01053 (2018)","journal-title":"Heliyon."},{"key":"1270_CR46","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1007\/s10846-016-0373-9","volume":"85","author":"Z Wang","year":"2017","unstructured":"Wang, Z., Gao, Q., Zhao, H.: CPG-Inspired Locomotion Control for a Snake Robot Basing on Nonlinear Oscillators. J. Intell. Robot. Syst. 85, 209\u2013227 (2017)","journal-title":"J. Intell. Robot. Syst."},{"key":"1270_CR47","doi-asserted-by":"crossref","unstructured":"Dholakiya, D., Bhattacharya, S., Gunalan, A., Singla, A., Bhatnagar, S., Amrutur, B., Ghosal, A., Kolathaya, S.: Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch, 5th International Conference on Control, Automation and Robotics (ICCAR), pp. 229\u2013234 (2019)","DOI":"10.1109\/ICCAR.2019.8813480"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01270-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-020-01270-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01270-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,19]],"date-time":"2024-08-19T06:59:23Z","timestamp":1724050763000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-020-01270-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,16]]},"references-count":47,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["1270"],"URL":"https:\/\/doi.org\/10.1007\/s10846-020-01270-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2020,12,16]]},"assertion":[{"value":"20 November 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 October 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 December 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"23"}}