{"id":"https://openalex.org/W3199729251","doi":"https://doi.org/10.1109/access.2021.3111504","title":"Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation","display_name":"Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3199729251","doi":"https://doi.org/10.1109/access.2021.3111504","mag":"3199729251"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3111504","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3111504","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09531645.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09531645.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079509568","display_name":"Kun-Jung Kim","orcid":"https://orcid.org/0000-0003-4782-4480"},"institutions":[{"id":"https://openalex.org/I80611190","display_name":"Jeonbuk National University","ror":"https://ror.org/05q92br09","country_code":"KR","type":"education","lineage":["https://openalex.org/I80611190"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kun-Jung Kim","raw_affiliation_strings":["Department of Aerospace Engineering, Jeonbuk National University, Jeonbuk, Jeonju 54896, South Korea","Department of Aerospace Engineering, Jeonbuk National University, Jeonju, Jeonbuk, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4782-4480","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Jeonbuk National University, Jeonbuk, Jeonju 54896, South Korea","institution_ids":["https://openalex.org/I80611190"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Jeonbuk National University, Jeonju, Jeonbuk, South Korea","institution_ids":["https://openalex.org/I80611190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035457928","display_name":"Byeong-Seop Sim","orcid":null},"institutions":[{"id":"https://openalex.org/I91950636","display_name":"Unisys (United States)","ror":"https://ror.org/033ssdc55","country_code":"US","type":"company","lineage":["https://openalex.org/I91950636"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Byeong-Seop Sim","raw_affiliation_strings":["Department of Production Engineering, UCONSYSTEM CO., LTD., Daejeon 34015, South Korea","Department of Production Engineering, UCONSYSTEM Company Ltd., Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Production Engineering, UCONSYSTEM CO., LTD., Daejeon 34015, South Korea","institution_ids":["https://openalex.org/I91950636"]},{"raw_affiliation_string":"Department of Production Engineering, UCONSYSTEM Company Ltd., Daejeon, South Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075140658","display_name":"Kee-Ho Yu","orcid":"https://orcid.org/0000-0002-9055-9451"},"institutions":[{"id":"https://openalex.org/I80611190","display_name":"Jeonbuk National University","ror":"https://ror.org/05q92br09","country_code":"KR","type":"education","lineage":["https://openalex.org/I80611190"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kee-Ho Yu","raw_affiliation_strings":["Department of Aerospace Engineering, Jeonbuk National University, Jeonbuk, Jeonju 54896, South Korea and Future Air Mobility Research Center, Jeonbuk, Jeonju 54896, South Korea. (e-mail: yu@chonbuk.ac.kr)","Department of Aerospace Engineering, Jeonbuk National University, Jeonju, Jeonbuk, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9055-9451","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Jeonbuk National University, Jeonbuk, Jeonju 54896, South Korea and Future Air Mobility Research Center, Jeonbuk, Jeonju 54896, South Korea. (e-mail: yu@chonbuk.ac.kr)","institution_ids":["https://openalex.org/I80611190"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Jeonbuk National University, Jeonju, Jeonbuk, South Korea","institution_ids":["https://openalex.org/I80611190"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079509568"],"corresponding_institution_ids":["https://openalex.org/I80611190"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.135,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46169399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"9","issue":null,"first_page":"127117","last_page":"127130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.964900016784668,"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/terrain","display_name":"Terrain","score":0.7548632621765137},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7251759767532349},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7197794914245605},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6666913032531738},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5971174836158752},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5736037492752075},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5655665993690491},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5276473760604858},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5020656585693359},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42992597818374634},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4053158760070801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.261820912361145},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13296261429786682},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13161736726760864},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11638185381889343},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.0689350962638855}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7548632621765137},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7251759767532349},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7197794914245605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6666913032531738},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5971174836158752},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5736037492752075},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5655665993690491},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5276473760604858},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5020656585693359},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42992597818374634},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4053158760070801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.261820912361145},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13296261429786682},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13161736726760864},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11638185381889343},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0689350962638855},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3111504","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3111504","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09531645.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:59f1fdae0a934ec4bc5404dd68ddbfae","is_oa":true,"landing_page_url":"https://doaj.org/article/59f1fdae0a934ec4bc5404dd68ddbfae","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 127117-127130 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3111504","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3111504","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09531645.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G2704175265","display_name":null,"funder_award_id":"S3026129","funder_id":"https://openalex.org/F4320334880","funder_display_name":"Small and Medium Business Administration"},{"id":"https://openalex.org/G4290755929","display_name":null,"funder_award_id":"2016M1A3A3A02018194","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5755715243","display_name":null,"funder_award_id":"2021R1A2C1009127","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5888123340","display_name":null,"funder_award_id":"2020R1A6A3A01100324","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G7803970144","display_name":null,"funder_award_id":"2017R1D1A1B 03029381","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328992","display_name":"Jeonbuk National University","ror":null},{"id":"https://openalex.org/F4320334880","display_name":"Small and Medium Business Administration","ror":"https://ror.org/022c4zk48"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3199729251.pdf","grobid_xml":"https://content.openalex.org/works/W3199729251.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W38081120","https://openalex.org/W1548376396","https://openalex.org/W1564893732","https://openalex.org/W1676786151","https://openalex.org/W1843579036","https://openalex.org/W2029266383","https://openalex.org/W2059363081","https://openalex.org/W2060157691","https://openalex.org/W2071536667","https://openalex.org/W2111305247","https://openalex.org/W2135756602","https://openalex.org/W2149655703","https://openalex.org/W2153312388","https://openalex.org/W2289628916","https://openalex.org/W2485933980","https://openalex.org/W2531515121","https://openalex.org/W2885878928","https://openalex.org/W2916392085","https://openalex.org/W2956142662","https://openalex.org/W2969633885","https://openalex.org/W3002467273","https://openalex.org/W3042637822","https://openalex.org/W3047816257","https://openalex.org/W3090352594","https://openalex.org/W3091051504","https://openalex.org/W3112650600","https://openalex.org/W4250604988","https://openalex.org/W4293777443","https://openalex.org/W6637478675","https://openalex.org/W6682826217","https://openalex.org/W6755280701","https://openalex.org/W6773102834","https://openalex.org/W7054587877"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W2281433634","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2143648480","https://openalex.org/W2402852349"],"abstract_inverted_index":{"A":[0],"wheeled":[1,155],"robot":[2,40,44,58,86,116,156],"operating":[3],"on":[4,38,62],"various":[5],"complex":[6,159],"terrains":[7],"with":[8,21,117],"scattered":[9],"obstacles":[10,48],"and":[11,19,49,89,132],"steep":[12],"slopes":[13],"must":[14],"be":[15],"capable":[16],"of":[17,73,112,153],"surmountingobstructions":[18],"coping":[20],"the":[22,35,39,43,63,70,74,85,98,110,113,140,151],"extreme":[23],"driving":[24],"environment.":[25],"This":[26,54],"paper":[27],"proposes":[28],"a":[29,57,129,134,154],"body":[30,76,81,100,142],"rotation":[31,77,82,101,143],"mechanism":[32,144],"that":[33,139],"controls":[34],"load":[36],"distribution":[37],"wheel":[41],"for":[42,149],"to":[45,68,96,127],"surmount":[46,128],"rocky":[47,130],"steadily":[50],"ascend":[51,133],"deformable":[52,135],"slopes.":[53],"work":[55],"formulates":[56],"dynamics":[59,87],"model":[60,67,88],"based":[61],"wheel\u2013complex":[64],"terrain":[65],"interaction":[66],"analyze":[69],"mechanical":[71],"effect":[72],"proposed":[75,114,141],"mechanism.Moreover,":[78],"an":[79,146],"optimal":[80],"configuration":[83],"integrating":[84],"non-dominated":[90],"sorting":[91],"genetic":[92],"algorithm-II":[93],"is":[94,121,145],"obtained":[95],"choose":[97],"appropriate":[99],"control":[102],"strategy.":[103],"The":[104],"numerical":[105],"analysis":[106],"results":[107,137],"conclusively":[108],"prove":[109],"effectiveness":[111],"mechanism.The":[115],"its":[118],"fabricated":[119],"platform":[120],"field":[122],"tested":[123],"by":[124],"allowing":[125],"it":[126],"obstacle":[131],"slope.The":[136],"indicate":[138],"effective":[147],"approach":[148],"enhancing":[150],"mobility":[152],"in":[157],"traversing":[158],"terrains.":[160]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}