{"id":"https://openalex.org/W1526471432","doi":"https://doi.org/10.1007/978-3-540-33453-8_28","title":"Wheel Control Based on Body Configuration for Step-Climbing Vehicle","display_name":"Wheel Control Based on Body Configuration for Step-Climbing Vehicle","publication_year":2006,"publication_date":"2006-10-03","ids":{"openalex":"https://openalex.org/W1526471432","doi":"https://doi.org/10.1007/978-3-540-33453-8_28","mag":"1526471432"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-540-33453-8_28","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-540-33453-8_28","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5035037458","display_name":"Daisuke Chugo","orcid":"https://orcid.org/0000-0002-3884-3746"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Chugo","raw_affiliation_strings":["The University of Tokyo, 2-11-16, Yayoi, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, 2-11-16, Yayoi, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072550866","display_name":"Kuniaki Kawabata","orcid":"https://orcid.org/0000-0003-3330-9242"},"institutions":[{"id":"https://openalex.org/I4210110652","display_name":"RIKEN","ror":"https://ror.org/01sjwvz98","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kuniaki Kawabata","raw_affiliation_strings":["RIKEN (The Institute of Physical and Chemical Research), 2-1, Hirosawa, Wako-shi, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RIKEN (The Institute of Physical and Chemical Research), 2-1, Hirosawa, Wako-shi, Saitama, Japan","institution_ids":["https://openalex.org/I4210110652"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112287948","display_name":"Hayato Kaetsu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110652","display_name":"RIKEN","ror":"https://ror.org/01sjwvz98","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hayato Kaetsu","raw_affiliation_strings":["RIKEN (The Institute of Physical and Chemical Research), 2-1, Hirosawa, Wako-shi, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RIKEN (The Institute of Physical and Chemical Research), 2-1, Hirosawa, Wako-shi, Saitama, Japan","institution_ids":["https://openalex.org/I4210110652"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064103302","display_name":"Hajime Asama","orcid":"https://orcid.org/0000-0002-9482-497X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hajime Asama","raw_affiliation_strings":["The University of Tokyo, 5-1-5, Kashiwanoha, Kashiwa-shi, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, 5-1-5, Kashiwanoha, Kashiwa-shi, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105470630","display_name":"Taketoshi Mishima","orcid":null},"institutions":[{"id":"https://openalex.org/I72253084","display_name":"Saitama University","ror":"https://ror.org/02evnh647","country_code":"JP","type":"education","lineage":["https://openalex.org/I72253084"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taketoshi Mishima","raw_affiliation_strings":["Saitama University, 255, Shimo-Ookubo, Saimata-shi, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saitama University, 255, Shimo-Ookubo, Saimata-shi, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14378506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"331","last_page":"342"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7282952666282654},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5616034269332886},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5380430221557617},{"id":"https://openalex.org/keywords/suspension","display_name":"Suspension (topology)","score":0.5029851794242859},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46544134616851807},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4653865396976471},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.438933402299881},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4326159954071045},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42838963866233826},{"id":"https://openalex.org/keywords/configuration-design","display_name":"Configuration design","score":0.41731369495391846},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4113815128803253},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4112325608730316},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30753183364868164},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16809982061386108},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1524350643157959},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1456318497657776},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09451115131378174}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7282952666282654},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5616034269332886},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5380430221557617},{"id":"https://openalex.org/C105341887","wikidata":"https://www.wikidata.org/wiki/Q1307987","display_name":"Suspension (topology)","level":3,"score":0.5029851794242859},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46544134616851807},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4653865396976471},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.438933402299881},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4326159954071045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42838963866233826},{"id":"https://openalex.org/C10451660","wikidata":"https://www.wikidata.org/wiki/Q5160113","display_name":"Configuration design","level":2,"score":0.41731369495391846},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4113815128803253},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4112325608730316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30753183364868164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16809982061386108},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1524350643157959},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1456318497657776},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09451115131378174},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-540-33453-8_28","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-540-33453-8_28","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W130861937","https://openalex.org/W1560993679","https://openalex.org/W1676786151","https://openalex.org/W2054130451","https://openalex.org/W2090537995","https://openalex.org/W2097838739","https://openalex.org/W2105709186","https://openalex.org/W2120135120","https://openalex.org/W2138172885","https://openalex.org/W2149012351","https://openalex.org/W2159003705","https://openalex.org/W2163668399","https://openalex.org/W2510317211","https://openalex.org/W2731752704","https://openalex.org/W3035604317"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2055233249","https://openalex.org/W2943251607","https://openalex.org/W2077643751","https://openalex.org/W963545523","https://openalex.org/W178419168","https://openalex.org/W3129234473","https://openalex.org/W2009470295","https://openalex.org/W4299315487","https://openalex.org/W2322425309"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}