{"id":"https://openalex.org/W2751607550","doi":"https://doi.org/10.1109/icar.2017.8023647","title":"Step-climbing maneuver for transleg in the wheeled mode","display_name":"Step-climbing maneuver for transleg in the wheeled mode","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2751607550","doi":"https://doi.org/10.1109/icar.2017.8023647","mag":"2751607550"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2017.8023647","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065399157","display_name":"Zhong Wei","orcid":"https://orcid.org/0000-0003-3815-944X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Wei","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007631634","display_name":"Guangming Song","orcid":"https://orcid.org/0000-0002-6362-4043"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102286050","display_name":"Huiyu Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyu Sun","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062414702","display_name":"Qien Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qien Qi","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017864274","display_name":"Shengsong Liu","orcid":null},"institutions":[],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengsong Liu","raw_affiliation_strings":["Department of Automation, Jiangsu Electric Power Company, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Jiangsu Electric Power Company, Nanjing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101847918","display_name":"Guifang Qiao","orcid":"https://orcid.org/0000-0001-7468-9988"},"institutions":[{"id":"https://openalex.org/I2799736854","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799736854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guifang Qiao","raw_affiliation_strings":["School of Automation, Nanjing Institute of Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing Institute of Technology, Nanjing, China","institution_ids":["https://openalex.org/I2799736854"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.382,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":1,"citation_normalized_percentile":{"value":0.320577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":63,"max":71},"biblio":{"volume":null,"issue":null,"first_page":"444","last_page":"449"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9999,"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":0.9999,"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/T11170","display_name":"Biological and Biomimetic Flight Dynamics","score":0.9991,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11615","display_name":"Control of Nonholonomic Mobile Robots","score":0.9941,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/climb","display_name":"Climb","score":0.96827143},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.73318386},{"id":"https://openalex.org/keywords/legged-robots","display_name":"Legged Robots","score":0.516319},{"id":"https://openalex.org/keywords/dynamic-walking","display_name":"Dynamic Walking","score":0.503351},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.4886754},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.4868059},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4743575}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.96827143},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.73318386},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.53074956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5275516},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.4886754},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.4868059},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4743575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44065776},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.42705786},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38500813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31121525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2050814},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.191392},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08716464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06831747},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.065968126},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.056313753},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2017.8023647","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":18,"referenced_works":["https://openalex.org/W10654749","https://openalex.org/W1971379688","https://openalex.org/W1987175021","https://openalex.org/W2026659733","https://openalex.org/W2027018386","https://openalex.org/W2029569297","https://openalex.org/W2041324319","https://openalex.org/W2052685926","https://openalex.org/W2054088957","https://openalex.org/W2073151603","https://openalex.org/W2262977212","https://openalex.org/W2410621027","https://openalex.org/W2419326772","https://openalex.org/W2480456125","https://openalex.org/W2561623370","https://openalex.org/W2564602434","https://openalex.org/W2583243136","https://openalex.org/W560885609"],"related_works":["https://openalex.org/W4377138153","https://openalex.org/W4312590534","https://openalex.org/W4205407652","https://openalex.org/W3109128554","https://openalex.org/W2531085753","https://openalex.org/W2324058214","https://openalex.org/W2323112089","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W2029973929"],"abstract_inverted_index":{"Transleg":[0,25,37,47,106,120,140,193],"is":[1,22,42,70,76,93,127,169],"a":[2,147,166],"transformable":[3],"leg-wheel":[4,50,58,69],"robot":[5],"conceived":[6],"to":[7,29,129,184],"work":[8],"in":[9,38,44,62,81,87,98,123,157],"the":[10,27,31,39,57,63,79,82,88,96,99,103,112,116,131,151,158,163,174,189,196,199,208],"unstructured":[11],"environment.":[12],"The":[13,33,91,136],"steps":[14,132,143,197],"exist":[15],"all":[16],"over":[17],"this":[18,45,66,124,172,186,214],"environment,":[19],"so":[20],"it":[21,126],"essential":[23],"that":[24,139,192],"has":[26],"ability":[28],"negotiate":[30,195],"steps.":[32],"step-climbing":[34,167,215],"performance":[35],"of":[36,65,118,153,201,210],"wheeled":[40,89,159],"mode":[41],"studied":[43],"paper.":[46,67],"owns":[48],"four":[49],"and":[51,55,85,188],"one":[52],"spine":[53],"mechanisms,":[54],"only":[56,110],"mechanisms":[59],"are":[60,146,182,204],"used":[61],"study":[64],"Each":[68],"actuated":[71],"by":[72],"two":[73],"actuators.":[74],"One":[75],"for":[77,94],"driving":[78,95,111],"thigh":[80],"legged":[83,100],"locomotion":[84],"wheel":[86],"locomotion.":[90,101],"other":[92],"shank":[97],"For":[102],"low":[104],"steps,":[105,165],"can":[107,121,141,194],"climb":[108,122,130,162],"easily,":[109],"wheels.":[113],"To":[114,161],"find":[115],"height":[117,200],"step":[119],"way,":[125],"driven":[128],"with":[133,198],"different":[134],"heights.":[135],"results":[137,190],"show":[138,191],"cross":[142],"whose":[144],"heights":[145],"little":[148],"lower":[149],"than":[150,207],"radius":[152,209],"its":[154,211],"wheels":[155,212],"55mm":[156],"mode.":[160],"higher":[164,206],"maneuver":[168],"designed.":[170],"In":[171],"maneuver,":[173,187],"shanks":[175],"play":[176],"an":[177],"important":[178],"role.":[179],"Some":[180],"simulations":[181],"done":[183],"verify":[185],"94mm":[202],"which":[203],"much":[205],"using":[213],"maneuver.":[216]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2751607550","counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2024-11-29T18:48:54.240959","created_date":"2017-09-15"}