{"id":"https://openalex.org/W2020848482","doi":"https://doi.org/10.1109/iros.2005.1545564","title":"Steering control of the personal riding-type wheeled mobile platform (PMP)","display_name":"Steering control of the personal riding-type wheeled mobile platform (PMP)","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2020848482","doi":"https://doi.org/10.1109/iros.2005.1545564","mag":"2020848482"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545564","doi":"https://doi.org/10.1109/iros.2005.1545564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545564","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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/A5089158000","display_name":"Makiko Sasaki","orcid":"https://orcid.org/0000-0002-4196-7766","observed_orcids":["https://orcid.org/0000-0002-4196-7766"]},"institutions":[{"id":"https://openalex.org/I149481174","display_name":"Tamagawa University","ror":"https://ror.org/05f8a4p63","country_code":"JP","type":"education","lineage":["https://openalex.org/I149481174"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Sasaki","raw_affiliation_strings":["Faculty of Engineering, Tamagawa University, Machida, Tokyo, Japan","Fac. of Eng., Tamagawa Univ., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Tamagawa University, Machida, Tokyo, Japan","institution_ids":["https://openalex.org/I149481174"]},{"raw_affiliation_string":"Fac. of Eng., Tamagawa Univ., Tokyo, Japan","institution_ids":["https://openalex.org/I149481174"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003742821","display_name":"N. Yanagihara","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I149481174","display_name":"Tamagawa University","ror":"https://ror.org/05f8a4p63","country_code":"JP","type":"education","lineage":["https://openalex.org/I149481174"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Yanagihara","raw_affiliation_strings":["Faculty of Engineering, Tamagawa University, Machida, Tokyo, Japan","Fac. of Eng., Tamagawa Univ., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Tamagawa University, Machida, Tokyo, Japan","institution_ids":["https://openalex.org/I149481174"]},{"raw_affiliation_string":"Fac. of Eng., Tamagawa Univ., Tokyo, Japan","institution_ids":["https://openalex.org/I149481174"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110058276","display_name":"O. Matsumoto","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"O. Matsumoto","raw_affiliation_strings":["Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Systems Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Institute","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013961715","display_name":"K. Komoriya","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Komoriya","raw_affiliation_strings":["Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","Intelligent Systems Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Institute","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2659,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.9174122,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1697","last_page":"1702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.0007999999797903001,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/steering-control","display_name":"steering control","score":0.9490000009536743},{"id":"https://openalex.org/keywords/riding-posture","display_name":"riding posture","score":0.515999972820282},{"id":"https://openalex.org/keywords/two-wheeled-vehicles","display_name":"two-wheeled vehicles","score":0.5649999976158142},{"id":"https://openalex.org/keywords/independent-wheel-drive","display_name":"independent wheel drive","score":0.7490000128746033},{"id":"https://openalex.org/keywords/postural-stabilization","display_name":"postural stabilization","score":0.4449999928474426},{"id":"https://openalex.org/keywords/maneuverability","display_name":"maneuverability","score":0.7070000171661377}],"concepts":[{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.7242677211761475},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5969144105911255},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5205315351486206},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4935070276260376},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46599280834198},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4377014636993408},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4258577525615692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4235374331474304},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3465648293495178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14899054169654846},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545564","doi":"https://doi.org/10.1109/iros.2005.1545564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545564","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W1985720921","https://openalex.org/W2129374899"],"related_works":["https://openalex.org/W2318162172","https://openalex.org/W2129374899","https://openalex.org/W2700653056","https://openalex.org/W2003999924","https://openalex.org/W2595582741","https://openalex.org/W2716327740","https://openalex.org/W2303033586","https://openalex.org/W2078300379","https://openalex.org/W2239481054","https://openalex.org/W2810941177"],"abstract_inverted_index":{"This":[0,123],"paper":[1,124],"reports":[2],"on":[3,64,134,198],"the":[4,16,54,58,65,97,120,131,135,138,150,153,157,170,194,199],"continued":[5],"development":[6],"of":[7,25,57,61,152],"a":[8,12,29,33,73,83,90],"new":[9],"concept":[10],"for":[11,32,129],"personal":[13],"vehicle":[14,68],"called":[15],"'personal":[17],"riding-type":[18],"wheeled":[19],"mobile":[20],"platform":[21],"(PMP)'":[22],"that":[23,86,186],"consists":[24],"two":[26,37,70],"wheels":[27,38],"and":[28,42,44,47,82,101,105,109,115,137,156],"standing":[30,180],"base":[31,136],"human":[34],"rider.":[35],"The":[36,67],"are":[39,49],"driven":[40],"independently,":[41],"forward":[43,114],"backward":[45,116],"movement":[46,117],"steering":[48,91,139,146,171,188],"achieved":[50,112,192],"by":[51,148],"simply":[52],"changing":[53,149],"relative":[55],"position":[56,151],"rider's":[59,121,132,154,195,200],"center":[60],"gravity":[62],"(COG)":[63],"base.":[66],"has":[69],"distinct":[71],"advantages:":[72],"reduction":[74],"in":[75,142,177],"total":[76],"weight":[77,162],"through":[78],"its":[79,102],"simple":[80],"structure":[81,128],"space-saving":[84],"design":[85],"does":[87],"not":[88],"use":[89],"unit.":[92],"We":[93,167],"have":[94,111],"already":[95],"proposed":[96,127],"first":[98],"prototype":[99,159],"(PMP-1)":[100],"posture":[103],"stabilizing":[104],"running":[106],"control":[107,140,147,172,189],"methods,":[108],"we":[110],"proper":[113],"according":[118],"to":[119,144,174],"intentions.":[122,201],"describes":[125],"our":[126],"detecting":[130],"COG":[133,155,196],"method":[141,173],"order":[143],"achieve":[145],"second":[158],"(PMP-2)":[160],"whose":[161],"is":[163],"smaller":[164],"than":[165],"12kg.":[166],"also":[168],"investigated":[169],"improve":[175],"maneuverability":[176],"various":[178],"estimated":[179],"poses.":[181],"Our":[182],"experimental":[183],"results":[184],"demonstrate":[185],"natural":[187],"can":[190],"be":[191],"using":[193],"based":[197]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
