{"id":"https://openalex.org/W2997576465","doi":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","title":"Traveling State Estimation of a Wheeled Robot using ToF camera and Torque sensor for Lunar/Planetary Exploration","display_name":"Traveling State Estimation of a Wheeled Robot using ToF camera and Torque sensor for Lunar/Planetary Exploration","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2997576465","doi":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","mag":"2997576465"},"language":"en","primary_location":{"id":"doi:10.1299/jsmermd.2019.2p1-t03","doi":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","pdf_url":"https://www.jstage.jst.go.jp/article/jsmermd/2019/0/2019_2P1-T03/_pdf","source":{"id":"https://openalex.org/S4210229544","display_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","issn_l":"2424-3124","issn":["2424-3124"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","raw_type":"journal-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.jstage.jst.go.jp/article/jsmermd/2019/0/2019_2P1-T03/_pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113891015","display_name":"Shogo ENDO","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shogo ENDO","raw_affiliation_strings":["Tohoku Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku Univ","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003824494","display_name":"Masafumi Endo","orcid":"https://orcid.org/0000-0002-3577-6648","observed_orcids":["https://orcid.org/0000-0002-3577-6648"]},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masafumi ENDO","raw_affiliation_strings":["Tohoku Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku Univ","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041440352","display_name":"Kenji Nagaoka","orcid":"https://orcid.org/0000-0003-2937-0964","observed_orcids":["https://orcid.org/0000-0003-2937-0964"]},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji NAGAOKA","raw_affiliation_strings":["Tohoku Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku Univ","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026792729","display_name":"Kasuya YOSHIDA","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kasuya YOSHIDA","raw_affiliation_strings":["Tohoku Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku Univ","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22613118,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2019","issue":"0","first_page":"2P1","last_page":"T03"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9140999913215637,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9140999913215637,"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 and Dynamics of Mobile Robots","score":0.050999999046325684,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.02930000051856041,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/wheeled-mobile-robots","display_name":"wheeled mobile robots","score":0.7570000290870667},{"id":"https://openalex.org/keywords/state-estimation","display_name":"state estimation","score":0.8159999847412109},{"id":"https://openalex.org/keywords/time-of-flight-camera","display_name":"time-of-flight cameras","score":0.8989999890327454},{"id":"https://openalex.org/keywords/torque-sensor","display_name":"torque sensor","score":0.9599999785423279},{"id":"https://openalex.org/keywords/lunar-exploration","display_name":"lunar exploration","score":0.7229999899864197},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"planetary exploration","score":0.9919999837875366},{"id":"https://openalex.org/keywords/wheel-slip","display_name":"wheel slip","score":0.8109999895095825},{"id":"https://openalex.org/keywords/loose-soil","display_name":"loose soil","score":0.8920000195503235}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.8092718124389648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.721835732460022},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6605180501937866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4988882541656494},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4832192659378052},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3829350471496582},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36505359411239624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33109208941459656},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11706185340881348},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1299/jsmermd.2019.2p1-t03","doi":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","pdf_url":"https://www.jstage.jst.go.jp/article/jsmermd/2019/0/2019_2P1-T03/_pdf","source":{"id":"https://openalex.org/S4210229544","display_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","issn_l":"2424-3124","issn":["2424-3124"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1299/jsmermd.2019.2p1-t03","doi":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsmermd.2019.2p1-t03","pdf_url":"https://www.jstage.jst.go.jp/article/jsmermd/2019/0/2019_2P1-T03/_pdf","source":{"id":"https://openalex.org/S4210229544","display_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","issn_l":"2424-3124","issn":["2424-3124"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2997576465.pdf","grobid_xml":"https://content.openalex.org/works/W2997576465.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2769490326","https://openalex.org/W4386325135","https://openalex.org/W4213417204","https://openalex.org/W2151435677","https://openalex.org/W4386275658","https://openalex.org/W7117259374","https://openalex.org/W3167362483","https://openalex.org/W2019509716","https://openalex.org/W2411484711","https://openalex.org/W4391189986"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,21,33],"traveling":[4],"state":[5,23],"estimation":[6,73],"method":[7,74],"for":[8,31],"lunar":[9],"and":[10,28,54,62,91],"planetary":[11],"exploration.":[12],"The":[13,71],"purpose":[14],"of":[15],"this":[16,83],"research":[17],"is":[18,75,86],"to":[19,41],"estimate":[20],"robot":[22,35],"such":[24],"as":[25],"sinkage,":[26],"slippage":[27],"driving":[29],"torque":[30,55],"using":[32],"4-wheeled":[34],"in":[36,39],"loose":[37],"soil,":[38],"order":[40],"adapt":[42],"the":[43,60,88,92],"environment":[44],"where":[45],"those":[46],"parameters":[47],"change":[48],"dynamically.":[49],"A":[50],"time-of-flight":[51],"(ToF)":[52],"camera":[53],"sensors":[56],"are":[57,65],"mounted":[58],"on":[59],"robot,":[61],"each":[63],"values":[64],"estimated":[66],"by":[67,78],"obtained":[68],"raw":[69],"data.":[70],"proposed":[72],"experimentally":[76],"evaluated":[77],"straight":[79],"running":[80],"experiment.":[81],"In":[82],"experiment,":[84],"condition":[85],"changed":[87],"wheel":[89],"shape":[90],"soil.":[93]},"counts_by_year":[],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2020-01-10T00:00:00"}