{"id":"https://openalex.org/W2143376109","doi":"https://doi.org/10.1017/s0263574711000804","title":"Dynamic modeling and stability optimization of a redundant mobile robot using a genetic algorithm","display_name":"Dynamic modeling and stability optimization of a redundant mobile robot using a genetic algorithm","publication_year":2011,"publication_date":"2011-07-26","ids":{"openalex":"https://openalex.org/W2143376109","doi":"https://doi.org/10.1017/s0263574711000804","mag":"2143376109"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574711000804","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711000804","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"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/A5058692248","display_name":"Mohamad Mosadeghzad","orcid":null},"institutions":[{"id":"https://openalex.org/I167694869","display_name":"Bu-Ali Sina University","ror":"https://ror.org/04ka8rx28","country_code":"IR","type":"education","lineage":["https://openalex.org/I167694869"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"M. Mosadeghzad","raw_affiliation_strings":["Engineering Faculty, Bu Ali-Sina University, Hamedan, Iran","[Engineering Faculty, Bu-Ali Sina University, Hamedan, Iran]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Faculty, Bu Ali-Sina University, Hamedan, Iran","institution_ids":["https://openalex.org/I167694869"]},{"raw_affiliation_string":"[Engineering Faculty, Bu-Ali Sina University, Hamedan, Iran]","institution_ids":["https://openalex.org/I167694869"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035440009","display_name":"D. Naderi","orcid":"https://orcid.org/0000-0001-6852-2743"},"institutions":[{"id":"https://openalex.org/I167694869","display_name":"Bu-Ali Sina University","ror":"https://ror.org/04ka8rx28","country_code":"IR","type":"education","lineage":["https://openalex.org/I167694869"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"D. Naderi","raw_affiliation_strings":["Engineering Faculty, Bu Ali-Sina University, Hamedan, Iran","[Engineering Faculty, Bu-Ali Sina University, Hamedan, Iran]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Faculty, Bu Ali-Sina University, Hamedan, Iran","institution_ids":["https://openalex.org/I167694869"]},{"raw_affiliation_string":"[Engineering Faculty, Bu-Ali Sina University, Hamedan, Iran]","institution_ids":["https://openalex.org/I167694869"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059276409","display_name":"Soheil Ganjefar","orcid":"https://orcid.org/0000-0001-7030-2766"},"institutions":[{"id":"https://openalex.org/I167694869","display_name":"Bu-Ali Sina University","ror":"https://ror.org/04ka8rx28","country_code":"IR","type":"education","lineage":["https://openalex.org/I167694869"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Ganjefar","raw_affiliation_strings":["Engineering Faculty, Bu Ali-Sina University, Hamedan, Iran","[Engineering Faculty, Bu-Ali Sina University, Hamedan, Iran]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Faculty, Bu Ali-Sina University, Hamedan, Iran","institution_ids":["https://openalex.org/I167694869"]},{"raw_affiliation_string":"[Engineering Faculty, Bu-Ali Sina University, Hamedan, Iran]","institution_ids":["https://openalex.org/I167694869"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058692248"],"corresponding_institution_ids":["https://openalex.org/I167694869"],"apc_list":null,"apc_paid":null,"fwci":1.971,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.89162664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"30","issue":"3","first_page":"505","last_page":"514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6624086499214172},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.6244015693664551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6179927587509155},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6172954440116882},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5642147660255432},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5623860955238342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48097479343414307},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46243488788604736},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4510936737060547},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.4128653109073639},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34118860960006714},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33617058396339417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16459697484970093}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6624086499214172},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.6244015693664551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6179927587509155},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6172954440116882},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5642147660255432},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5623860955238342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48097479343414307},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46243488788604736},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4510936737060547},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.4128653109073639},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34118860960006714},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33617058396339417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16459697484970093},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574711000804","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711000804","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W655568375","https://openalex.org/W1557098279","https://openalex.org/W1991239400","https://openalex.org/W2002515014","https://openalex.org/W2004889541","https://openalex.org/W2025939589","https://openalex.org/W2040922855","https://openalex.org/W2062691475","https://openalex.org/W2099955981","https://openalex.org/W2106116941","https://openalex.org/W2142980992","https://openalex.org/W2146179709","https://openalex.org/W2159517219","https://openalex.org/W2312644716","https://openalex.org/W2624602067","https://openalex.org/W3142707146","https://openalex.org/W4298296583"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W2789522126","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W3023567978","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"SUMMARY":[0],"Kinematic":[1],"reconfigurable":[2],"mobile":[3,100],"robots":[4],"have":[5],"the":[6,17,34,77,105,121,132,134,140,145,157,160],"ability":[7],"to":[8,12,70,154,159],"change":[9],"their":[10],"structure":[11],"increase":[13],"stability":[14,26,107],"and":[15,42,85,127,136,139,144,163],"decrease":[16],"probability":[18],"of":[19,31,62,76,104],"tipping":[20],"over":[21],"on":[22],"rough":[23],"terrain.":[24,44],"If":[25],"increases":[27],"without":[28],"decreasing":[29],"center":[30],"mass":[32],"height,":[33],"robot":[35,78,101,168],"can":[36],"pass":[37],"more":[38],"easily":[39],"through":[40],"bushes":[41],"rocky":[43],"In":[45,89,131],"this":[46,68,90],"paper,":[47],"an":[48,92,97],"improved":[49,98],"sample":[50],"return":[51],"rover":[52],"is":[53],"presented.":[54],"The":[55,150,167],"vehicle":[56,135,146],"has":[57,147],"a":[58,112],"redundant":[59],"rolling":[60],"degree":[61],"freedom.":[63],"A":[64,115],"genetic":[65,113],"algorithm":[66],"utilizes":[67],"redundancy":[69],"optimize":[71],"stability.":[72,166],"Parametric":[73],"motion":[74],"equations":[75],"were":[79],"derived":[80],"by":[81],"considering":[82],"Iterative":[83],"Kane":[84],"Lagrange's":[86],"dynamic":[87],"equations.":[88],"research,":[91],"optimal":[93,165],"reconfiguration":[94],"strategy":[95],"for":[96,173],"SRR":[99],"in":[102,129],"terms":[103],"Force\u2013Angle":[106],"measure":[108],"was":[109,125,152,169],"designed":[110,126],"using":[111,171],"algorithm.":[114],"path-tracking":[116],"nonlinear":[117],"controller,":[118],"which":[119],"maintains":[120],"robot's":[122],"maximum":[123],"stability,":[124],"simulated":[128,170],"MATLAB.":[130],"simulation,":[133],"end-effector":[137,158],"paths":[138],"terrain":[141],"are":[142],"predefined":[143],"constant":[148],"velocity.":[149],"controller":[151],"found":[153],"successfully":[155],"keep":[156],"desired":[161],"path":[162],"maintained":[164],"ADAMS":[172],"optimization":[174],"evaluation.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}