{"id":"https://openalex.org/W4415845114","doi":"https://doi.org/10.1080/01691864.2025.2571558","title":"A prismatic joint mechanism for high payload capacity of hybrid mobile robots","display_name":"A prismatic joint mechanism for high payload capacity of hybrid mobile robots","publication_year":2025,"publication_date":"2025-11-02","ids":{"openalex":"https://openalex.org/W4415845114","doi":"https://doi.org/10.1080/01691864.2025.2571558"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2025.2571558","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2571558","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5031564857","display_name":"Yuika Yoshimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuika Yoshimoto","raw_affiliation_strings":["Hiroshima University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hiroshima University","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028322085","display_name":"Jun Watanabe","orcid":"https://orcid.org/0000-0002-7187-3664"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Watanabe","raw_affiliation_strings":["Hiroshima University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hiroshima University","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037858939","display_name":"Keigo Kitagawa","orcid":null},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keigo Kitagawa","raw_affiliation_strings":["Hiroshima University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hiroshima University","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039413469","display_name":"Hisayoshi Muramatsu","orcid":"https://orcid.org/0000-0003-1446-5389"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hisayoshi Muramatsu","raw_affiliation_strings":["Hiroshima University"],"raw_orcid":"https://orcid.org/0000-0003-1446-5389","affiliations":[{"raw_affiliation_string":"Hiroshima University","institution_ids":["https://openalex.org/I113306721"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5039413469"],"corresponding_institution_ids":["https://openalex.org/I113306721"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27439551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"39","issue":"21","first_page":"1346","last_page":"1359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.34470000863075256,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.34470000863075256,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.23469999432563782,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.10849999636411667,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7667999863624573},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6654999852180481},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6452000141143799},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6259999871253967},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5306000113487244},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3562999963760376}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7667999863624573},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6654999852180481},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6452000141143799},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6259999871253967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5985999703407288},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5306000113487244},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3799000084400177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3571000099182129},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3562999963760376},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3075999915599823},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3066999912261963},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2770000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2025.2571558","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2571558","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320328617","display_name":"JKA Foundation","ror":"https://ror.org/01r88qh41"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1971559112","https://openalex.org/W1975230295","https://openalex.org/W1986621758","https://openalex.org/W1989925348","https://openalex.org/W2003621390","https://openalex.org/W2045561213","https://openalex.org/W2072162880","https://openalex.org/W2410621027","https://openalex.org/W2512579198","https://openalex.org/W2531596132","https://openalex.org/W2614308505","https://openalex.org/W2890196322","https://openalex.org/W2909553221","https://openalex.org/W2925163165","https://openalex.org/W2951633861","https://openalex.org/W2967118761","https://openalex.org/W2967978114","https://openalex.org/W2968031102","https://openalex.org/W2968213087","https://openalex.org/W3001943252","https://openalex.org/W3026393557","https://openalex.org/W3043795300","https://openalex.org/W3084443617","https://openalex.org/W3090849322","https://openalex.org/W3109424835","https://openalex.org/W3157789957","https://openalex.org/W3196685263","https://openalex.org/W3216702050","https://openalex.org/W4200131911","https://openalex.org/W4210993197","https://openalex.org/W4247838075","https://openalex.org/W4250685322","https://openalex.org/W4252907012","https://openalex.org/W4289731088","https://openalex.org/W4294584872","https://openalex.org/W4379622725","https://openalex.org/W4391678016","https://openalex.org/W4409593388"],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robots":[1,43,55,118],"should":[2],"perform":[3],"tasks":[4],"with":[5,71,182],"heavy":[6],"objects":[7],"in":[8,12,75],"place":[9],"of":[10,174],"humans":[11],"various":[13,25],"environments,":[14,26],"such":[15],"as":[16],"environmental":[17],"exploration":[18],"and":[19,40,60,150,158,171,178],"disaster":[20],"relief.":[21],"To":[22,145],"adapt":[23],"to":[24,30,33,37,92,109],"it":[27],"is":[28,95,136],"effective":[29],"be":[31],"able":[32],"select":[34],"locomotion":[35,47,59,177],"according":[36],"the":[38,121,127,147,155,160,164,166,175,183],"terrain,":[39],"hybrid":[41,53,116,176],"mobile":[42,54,117,141],"that":[44,56,83],"combine":[45],"multiple":[46,58],"modes":[48],"have":[49,64],"been":[50,65],"studied.":[51],"The":[52,131],"integrate":[57],"object":[61],"manipulation":[62],"capabilities":[63,173],"developed,":[66],"but":[67],"they":[68],"are":[69],"equipped":[70],"many":[72],"actuators,":[73],"resulting":[74],"a":[76,85,98,105,111,139],"high":[77,86,99,112],"robot":[78,128],"weight.":[79],"A":[80],"light":[81],"mechanism":[82,108,135],"has":[84],"conversion":[87,123,148],"ratio":[88,124,149],"from":[89],"joint-space":[90],"torque":[91],"task-space":[93],"force":[94],"expected":[96],"for":[97,115],"payload":[100,113,161,167],"capacity.":[101,162],"This":[102],"paper":[103,153],"proposes":[104],"prismatic":[106,133,184],"joint":[107,134,185],"realize":[110],"capacity":[114,168],"by":[119],"increasing":[120,126],"torque-to-force":[122],"without":[125],"weight":[129],"excessively.":[130],"proposed":[132],"implemented":[137],"on":[138],"12-DOF":[140],"quad-arm":[142],"robot:":[143],"ARMS.":[144],"analyze":[146],"payload,":[151],"this":[152],"shows":[154],"manipulating-force":[156],"ellipsoids":[157],"derives":[159],"In":[163],"experiments,":[165],"was":[169],"verified,":[170],"ARMS's":[172],"loco-manipulation":[179],"were":[180],"demonstrated":[181],"mechanism.":[186]},"counts_by_year":[],"updated_date":"2026-06-14T06:11:07.267592","created_date":"2025-11-04T00:00:00"}