{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T23:13:31Z","timestamp":1782515611820,"version":"3.54.5"},"reference-count":38,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2025,3,19]],"date-time":"2025-03-19T00:00:00Z","timestamp":1742342400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Integrated Computer-Aided Engineering"],"published-print":{"date-parts":[[2025,5]]},"abstract":"<jats:p>\n                    \n                    \n                    This paper presents novel Gait Decomposition (GD) and Gait Parameter Gradient (GPG) methods for enhancing snake robot control and optimization. Snake robots face challenges in parameter tuning due to their complex dynamics and the need to preserve gait characteristics during control. GD fine-tunes gait parameters while maintaining their characteristics to prevent unintended changes during the application of serpenoid curves, typical in snake robots. A key feature of GD is the use of a motion matrix to represent joint movements, ensuring the preservation of gait characteristics. This methodology classifies the robot\u2019s gait as a motion matrix, aiding in addressing the common challenge of parameter tuning in real-world scenarios. Furthermore, we introduce the GPG algorithm, designed to efficiently optimize gait parameters by adjusting both the curve function parameters and the motion matrix. Simulations validate the effectiveness of our methods, showing that the decomposed gait closely retains the original gait\u2019s characteristics and achieves stable optimization under various conditions. Together, GD and GPG offer significant improvements in the control, adaptability, and practical deployment of snake robots, potentially expanding their applications across various domains.\n                  <\/jats:p>","DOI":"10.1177\/10692509251316676","type":"journal-article","created":{"date-parts":[[2025,3,19]],"date-time":"2025-03-19T09:13:56Z","timestamp":1742375636000},"page":"196-225","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Optimizing snake robot locomotion with decomposed gait pattern representation"],"prefix":"10.1177","volume":"32","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1714-7482","authenticated-orcid":false,"given":"Bongsub","family":"Song","sequence":"first","affiliation":[{"name":"Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science &amp; Technology (DGIST), Daegu, South\u00a0Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7928-8198","authenticated-orcid":false,"given":"Insung","family":"Ju","sequence":"additional","affiliation":[{"name":"Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science &amp; Technology (DGIST), Daegu, South\u00a0Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2254-5274","authenticated-orcid":false,"given":"Dongwon","family":"Yun","sequence":"additional","affiliation":[{"name":"Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science &amp; Technology (DGIST), Daegu, South\u00a0Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,3,19]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21549"},{"key":"e_1_3_4_3_2","doi-asserted-by":"crossref","unstructured":"Yamada H Hirose S. Approximations to continuous curves of active cord mechanism made of arc-shaped joints or double joints. In: 2010 IEEE international conference on robotics and automation [Internet] (2010 accessed 6 December 2024) pp.703\u2013708.","DOI":"10.1109\/ROBOT.2010.5509938"},{"key":"e_1_3_4_4_2","doi-asserted-by":"crossref","unstructured":"Gong C Travers M Astley HC et al. Limbless locomotors that turn in place. In: 2015 IEEE international conference on robotics and automation (ICRA) [Internet] (2015 accessed 6 December 2024) pp.3747\u20133754.","DOI":"10.1109\/ICRA.2015.7139720"},{"key":"e_1_3_4_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-021-0403-7"},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aa644c"},{"key":"e_1_3_4_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915426"},{"key":"e_1_3_4_8_2","doi-asserted-by":"crossref","unstructured":"Dehghani M Mahjoob MJ. A modified serpenoid equation for snake robots. In: 2008 IEEE international conference on robotics and biomimetics [Internet] (2009 accessed 6 December 2024) pp.1647\u20131652.","DOI":"10.1109\/ROBIO.2009.4913248"},{"key":"e_1_3_4_9_2","doi-asserted-by":"crossref","unstructured":"Enner F Rollinson D Choset H. Simplified motion modeling for snake robots. In: 2012 IEEE international conference on robotics and automation [Internet] (2012 accessed 6 December 2024) pp.4216\u20134221.","DOI":"10.1109\/ICRA.2012.6225163"},{"key":"e_1_3_4_10_2","unstructured":"Gong C I. Goldman D Choset H. Simplifying Gait Design via Shape Basis Optimization. In: Robotics: Science and Systems XII [Internet]. Robotics: Science and Systems Foundation; (2016 accessed 6 December 2024)."},{"key":"e_1_3_4_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/s40998-019-00301-8"},{"key":"e_1_3_4_12_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0864-y"},{"key":"e_1_3_4_13_2","doi-asserted-by":"crossref","unstructured":"Rollinson D Choset H. Gait-based compliant control for snake robots. In: 2013 IEEE international conference on robotics and automation [Internet] (2013 accessed 6 December 2024) pp.5138\u20135143.","DOI":"10.1109\/ICRA.2013.6631311"},{"key":"e_1_3_4_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830346"},{"key":"e_1_3_4_15_2","doi-asserted-by":"crossref","first-page":"282","DOI":"10.1017\/S0263574700017264","article-title":"Biologically inspired robots: Snake-like locomotors and manipulators by shigeo hirose Oxford university press, Oxford, 1993, 220pages, incl index (\u00a340)","volume":"12","author":"Owen T","year":"1994","unstructured":"Owen T. Biologically inspired robots: Snake-like locomotors and manipulators by shigeo hirose Oxford university press, Oxford, 1993, 220pages, incl index (\u00a340). Robotica 1994; 12: 282\u2013282.","journal-title":"Robotica"},{"key":"e_1_3_4_16_2","doi-asserted-by":"crossref","unstructured":"Ohno H Hirose S. Design of slim slime robot and its gait of locomotion. In: Proceedings 2001 IEEE\/RSJ international conference on intelligent robots and systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180). vol. 2. pp.707\u2013715.","DOI":"10.1109\/IROS.2001.976252"},{"key":"e_1_3_4_17_2","doi-asserted-by":"crossref","unstructured":"Tesch M Schneider J Choset H. Using response surfaces and expected improvement to optimize snake robot gait parameters. In: 2011 IEEE\/RSJ international conference on intelligent robots and systems [Internet] (2011 accessed 6 December 2024) pp.1069\u20131074.","DOI":"10.1109\/IROS.2011.6095076"},{"key":"e_1_3_4_18_2","doi-asserted-by":"crossref","unstructured":"Chong B Ozkan Aydin Y Gong C et al. Coordination of back bending and leg movements for quadrupedal locomotion. In: Robotics: Science and systems XIV [Internet]. Robotics: Science and Systems Foundation; (2018 accessed 6 December 2024).","DOI":"10.15607\/RSS.2018.XIV.020"},{"key":"e_1_3_4_19_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.150.3697.701"},{"key":"e_1_3_4_20_2","doi-asserted-by":"publisher","DOI":"10.1163\/156855386X00058"},{"key":"e_1_3_4_21_2","unstructured":"Weingarten JD Buehler M Groff RE et al. Gait generation and optimization for legged robots. In: 2003 IEEE international conference on robotics and automation 2003."},{"key":"e_1_3_4_22_2","doi-asserted-by":"crossref","unstructured":"Barazandeh F Bahr B Moradi A. How self-locking reduces actuators torque in climbing snake robots. In: 2007 IEEE\/ASME international conference on advanced intelligent mechatronics pp.1\u20136. ISSN:2159-6255.","DOI":"10.1109\/AIM.2007.4412524"},{"key":"e_1_3_4_23_2","doi-asserted-by":"crossref","unstructured":"Umetani Y Hirose S. Biomechanical study of serpentine locomotion. In: Serafini P Guazzelli E Schrefler B Pfeiffer F and Rammerstorfer FG (eds) On theory and practice of robots and manipulators: Volume I [Internet]. Vienna: Springer (1974 accessed 6 December 2024) pp.171\u2013184.","DOI":"10.1007\/978-3-7091-2993-7_12"},{"key":"e_1_3_4_24_2","doi-asserted-by":"crossref","unstructured":"Date H Takita Y. Control of 3D snake-like locomotive mechanism based on continuum modeling. In: American society of mechanical engineers digital collection. (2008 accessed 6 December 2024) pp.1351\u20131359.","DOI":"10.1115\/DETC2005-85130"},{"key":"e_1_3_4_25_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.01.006"},{"key":"e_1_3_4_26_2","doi-asserted-by":"publisher","DOI":"10.1163\/156855309X452566"},{"key":"e_1_3_4_27_2","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-230707"},{"key":"e_1_3_4_28_2","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-230705"},{"key":"e_1_3_4_29_2","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-220695"},{"key":"e_1_3_4_30_2","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-230698"},{"key":"e_1_3_4_31_2","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-230724"},{"key":"e_1_3_4_32_2","doi-asserted-by":"publisher","DOI":"10.1111\/mice.12993"},{"key":"e_1_3_4_33_2","doi-asserted-by":"publisher","DOI":"10.1111\/mice.13108"},{"key":"e_1_3_4_34_2","doi-asserted-by":"publisher","DOI":"10.1111\/mice.13185"},{"key":"e_1_3_4_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062331"},{"key":"e_1_3_4_36_2","doi-asserted-by":"crossref","unstructured":"Rollinson D Choset H. Virtual chassis for snake robots. In: 2011 IEEE\/RSJ international conference on intelligent robots and systems [Internet] (2011 accessed 6 December 2024) pp.221\u2013226.","DOI":"10.1109\/IROS.2011.6094645"},{"key":"e_1_3_4_37_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9175-2"},{"key":"e_1_3_4_38_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-010-9179-y"},{"key":"e_1_3_4_39_2","unstructured":"Yosinski J Clune J Hidalgo D et al. Evolving robot gaits in hardware: the HyperNEAT generative encoding vs. parameter optimization (full article). In MIT Press; (2011 accessed 6 December 2024)."}],"container-title":["Integrated Computer-Aided Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/10692509251316676","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/10692509251316676","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/10692509251316676","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:14:57Z","timestamp":1777454097000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/10692509251316676"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,3,19]]},"references-count":38,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2025,5]]}},"alternative-id":["10.1177\/10692509251316676"],"URL":"https:\/\/doi.org\/10.1177\/10692509251316676","relation":{},"ISSN":["1069-2509","1875-8835"],"issn-type":[{"value":"1069-2509","type":"print"},{"value":"1875-8835","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,3,19]]}}}