{"id":"https://openalex.org/W2037767808","doi":"https://doi.org/10.1017/s0263574712000069","title":"Fast analytical models of wheeled locomotion in deformable terrain for mobile robots","display_name":"Fast analytical models of wheeled locomotion in deformable terrain for mobile robots","publication_year":2012,"publication_date":"2012-03-16","ids":{"openalex":"https://openalex.org/W2037767808","doi":"https://doi.org/10.1017/s0263574712000069","mag":"2037767808"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000069","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000069","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/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhenzhong Jia","raw_affiliation_strings":["Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068394454","display_name":"William Smith","orcid":"https://orcid.org/0000-0002-2315-5772"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Smith","raw_affiliation_strings":["Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019025642","display_name":"Huei Peng","orcid":"https://orcid.org/0000-0002-1844-3163"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huei Peng","raw_affiliation_strings":["Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Ground Robotics Reliability Center (GRRC), University of Michigan, Ann Arbor, MI, 48109, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075727192"],"corresponding_institution_ids":["https://openalex.org/I27837315","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":4.9151,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.94158986,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"31","issue":"1","first_page":"35","last_page":"53"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T14445","display_name":"Transportation Safety and Impact Analysis","score":0.9824000000953674,"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"}},{"id":"https://openalex.org/T12792","display_name":"Soil Management and Crop Yield","score":0.9796000123023987,"subfield":{"id":"https://openalex.org/subfields/1111","display_name":"Soil Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7942313551902771},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.610967218875885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5470205545425415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5341493487358093},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5220372676849365},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5005073547363281},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.49152836203575134},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4585573077201843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2506569027900696},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23264488577842712},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15188324451446533}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7942313551902771},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.610967218875885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470205545425415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5341493487358093},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5220372676849365},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5005073547363281},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.49152836203575134},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4585573077201843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2506569027900696},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23264488577842712},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15188324451446533},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000069","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000069","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":[{"display_name":"Life in Land","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320334900","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1497594424","https://openalex.org/W1510039623","https://openalex.org/W1533527696","https://openalex.org/W1578483761","https://openalex.org/W1970294873","https://openalex.org/W1970997627","https://openalex.org/W1980530771","https://openalex.org/W1986469871","https://openalex.org/W1987424218","https://openalex.org/W2012416257","https://openalex.org/W2032335793","https://openalex.org/W2036985390","https://openalex.org/W2038483892","https://openalex.org/W2044881365","https://openalex.org/W2079321938","https://openalex.org/W2080310751","https://openalex.org/W2098928970","https://openalex.org/W2147932281","https://openalex.org/W2157272178","https://openalex.org/W2159559414","https://openalex.org/W2289628916","https://openalex.org/W2324830312","https://openalex.org/W2798404144","https://openalex.org/W2977668700","https://openalex.org/W3141871093","https://openalex.org/W3143334844","https://openalex.org/W4253755764","https://openalex.org/W4285502049"],"related_works":["https://openalex.org/W2131012217","https://openalex.org/W2131357063","https://openalex.org/W2139992381","https://openalex.org/W2786412097","https://openalex.org/W1968704373","https://openalex.org/W2085578998","https://openalex.org/W1514516386","https://openalex.org/W2157685395","https://openalex.org/W1889898658","https://openalex.org/W2153315991"],"abstract_inverted_index":{"SUMMARY":[0],"Hazardous":[1],"terrains":[2,37],"pose":[3],"a":[4,45],"crucial":[5],"challenge":[6],"to":[7,18,85,144],"mobile":[8,158],"robots.":[9,159],"To":[10],"operate":[11],"safely":[12],"and":[13,23,64,132,148,180,186],"efficiently,":[14],"it":[15],"is":[16,116],"necessary":[17],"detect":[19],"the":[20,58,65,87,97,112,119,128,133,146,149],"terrain":[21],"type":[22],"modify":[24],"operation":[25],"strategies":[26],"in":[27,162],"real-time.":[28],"Fast":[29],"analytical":[30],"models":[31,173],"of":[32,55,67,76,111,157],"wheeled":[33],"locomotion":[34],"on":[35,42,96],"deformable":[36],"are":[38],"thus":[39],"important.":[40],"Based":[41],"classic":[43],"terramechanics,":[44],"closed-form":[46],"wheel\u2013soil":[47,59,129],"interaction":[48,130],"model":[49,131,153],"was":[50,83,102,124,142],"derived":[51],"by":[52,90,104,118,126,168,176],"quadratic":[53],"approximation":[54],"stresses":[56],"along":[57],"interface.":[60],"The":[61,99,171],"bulldozing":[62],"resistance":[63],"effects":[66],"grousers":[68],"were":[69,174],"also":[70],"added":[71],"for":[72,154],"more":[73],"accurate":[74],"prediction":[75],"wheel":[77,113],"contact":[78,114],"forces.":[79],"A":[80],"non-iterative":[81],"method":[82],"proposed":[84],"estimate":[86],"entry":[88,134],"angle,":[89],"using":[91],"approximated":[92],"vertical":[93],"pressure":[94],"acting":[95],"wheels.":[98],"computational":[100],"efficiency":[101],"improved":[103],"avoiding":[105],"traditional":[106],"recursive":[107],"search.":[108],"Real-time":[109],"computation":[110],"forces":[115],"achieved":[117],"terramechanics-based":[120],"formula":[121],"(TBF),":[122],"which":[123],"developed":[125],"integrating":[127],"angle":[135],"estimator.":[136],"In":[137],"addition,":[138],"an":[139],"automotive-inspired":[140],"approach":[141],"used":[143],"integrate":[145],"TBF":[147],"simplified":[150],"vehicle":[151],"dynamics":[152],"fast":[155],"simulation":[156,164,178],"Stability":[160],"problems":[161],"numerical":[163],"could":[165],"be":[166],"avoided":[167],"this":[169],"method.":[170],"above":[172],"verified":[175],"comparing":[177],"results":[179],"experiment":[181],"data,":[182],"including":[183],"single-wheel":[184],"experiments":[185],"full-vehicle":[187],"experiments.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}