{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T01:24:40Z","timestamp":1648689880037},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2004,8,19]],"date-time":"2004-08-19T00:00:00Z","timestamp":1092873600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2004,10]]},"abstract":"<jats:p>This paper deals with the controllability of biologically inspired snake-like mechanisms. Motion equations of the generic snake-like mechanism and investigations on its controllability lead to extremely complicated mathematical representations. The authors establish a physical analogy between the undulatory snake locomotion and object grasping. Based on this analogy, they propose a controllability criterion concerning the motion of the mobile mechanism. Results of dynamic simulations of the controlled system systematically point to the validity of the analogy-based controllability criterion. The purpose of this work is to achieve an understanding of the undulatory motion which constitutes the basis of a biologically motivated experimental setup.<\/jats:p>","DOI":"10.1017\/s0263574704000244","type":"journal-article","created":{"date-parts":[[2004,10,14]],"date-time":"2004-10-14T08:25:50Z","timestamp":1097742350000},"page":"493-503","source":"Crossref","is-referenced-by-count":1,"title":["A controllability criterion based on a physical analogy: Limbless locomotion and Object grasping in Robotics"],"prefix":"10.1017","volume":"22","author":[{"given":"Zeki Y.","family":"Bayraktaroglu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pierre","family":"Blazevic","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2004,8,19]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574704000244","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,6]],"date-time":"2019-05-06T20:15:26Z","timestamp":1557173726000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574704000244\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,8,19]]},"references-count":0,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2004,10]]}},"alternative-id":["S0263574704000244"],"URL":"https:\/\/doi.org\/10.1017\/s0263574704000244","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2004,8,19]]}}}