{"id":"https://openalex.org/W4416707055","doi":"https://doi.org/10.1109/access.2025.3637564","title":"Terrain-Adaptive Mobile-Base Platform for Enhanced Robot Adaptability and Stability","display_name":"Terrain-Adaptive Mobile-Base Platform for Enhanced Robot Adaptability and Stability","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416707055","doi":"https://doi.org/10.1109/access.2025.3637564"},"language":null,"primary_location":{"id":"doi:10.1109/access.2025.3637564","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3637564","pdf_url":null,"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://doi.org/10.1109/access.2025.3637564","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049548427","display_name":"T.H. Kim","orcid":"https://orcid.org/0009-0003-1371-8804"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Taehyun Kim","raw_affiliation_strings":["School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348874","display_name":"Donghun Lee","orcid":"https://orcid.org/0000-0003-2141-6761"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghun Lee","raw_affiliation_strings":["School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000137848","display_name":"Geonwoo Kwon","orcid":"https://orcid.org/0000-0002-2300-9759"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Geonwoo Kwon","raw_affiliation_strings":["School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045165772","display_name":"Hyunseok Yang","orcid":"https://orcid.org/0000-0002-1872-7449"},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunseok Yang","raw_affiliation_strings":["School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I193775966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049548427"],"corresponding_institution_ids":["https://openalex.org/I193775966"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.47731321,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"206572","last_page":"206605"},"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":0.3686000108718872,"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":0.3686000108718872,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0982000008225441,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.09369999915361404,"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/torque","display_name":"Torque","score":0.6536999940872192},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5891000032424927},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5644999742507935},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5256999731063843},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5235999822616577},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.49950000643730164},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44850000739097595},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.43369999527931213},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.428600013256073}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6536999940872192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6323000192642212},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5891000032424927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5644999742507935},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5256999731063843},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5235999822616577},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.49950000643730164},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44850000739097595},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.43369999527931213},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.428600013256073},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.4205999970436096},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3928000032901764},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.3801000118255615},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.37959998846054077},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.35580000281333923},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35499998927116394},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.3490999937057495},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3400000035762787},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.3231000006198883},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C102500504","wikidata":"https://www.wikidata.org/wiki/Q6674017","display_name":"Longitudinal static stability","level":3,"score":0.28279998898506165},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.26820001006126404},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2651999890804291},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C68649174","wikidata":"https://www.wikidata.org/wiki/Q1379116","display_name":"Base station","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2025.3637564","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3637564","pdf_url":null,"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"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3637564","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3637564","pdf_url":null,"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W193746231","https://openalex.org/W1540972449","https://openalex.org/W1571870753","https://openalex.org/W1590313028","https://openalex.org/W1975899417","https://openalex.org/W1984935210","https://openalex.org/W2002589631","https://openalex.org/W2012311101","https://openalex.org/W2034498579","https://openalex.org/W2070153717","https://openalex.org/W2129564505","https://openalex.org/W2139246146","https://openalex.org/W2141791321","https://openalex.org/W2192365361","https://openalex.org/W2314684457","https://openalex.org/W2763075177","https://openalex.org/W2795449678","https://openalex.org/W2890433751","https://openalex.org/W2925761457","https://openalex.org/W2943813443","https://openalex.org/W2954640206","https://openalex.org/W2964345570","https://openalex.org/W2972802909","https://openalex.org/W2985480183","https://openalex.org/W2996114691","https://openalex.org/W3003657498","https://openalex.org/W3033852677","https://openalex.org/W3082421160","https://openalex.org/W3090608563","https://openalex.org/W3164666578","https://openalex.org/W3191153382","https://openalex.org/W4211049957","https://openalex.org/W4285210694","https://openalex.org/W4285273130","https://openalex.org/W4313387840","https://openalex.org/W4379409060","https://openalex.org/W4391280516"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"mobility":[1],"and":[2,76,190,219,234,242],"stability":[3,45,144,160,186,238],"on":[4,111,204],"uneven":[5,48],"terrain":[6],"remain":[7],"significant":[8],"challenges":[9],"in":[10,74,156,187,271],"mobile":[11,34,55,258],"base":[12,35,56],"platform":[13,36,195],"design,":[14],"particularly":[15],"when":[16],"aiming":[17],"to":[18,26,43,119,133,164,177,180,210,253],"extend":[19],"the":[20,54,62,66,102,105,158,175,229,254,263],"capabilities":[21],"of":[22,69,91,104,256,266],"existing":[23],"industrial":[24,59,71,268],"manipulators":[25,73,270],"real-world":[27],"environments.":[28,78,273],"This":[29,173,250],"study":[30],"presents":[31],"a":[32,126,149,205,215],"terrain-adaptive":[33],"that":[37,228,261],"autonomously":[38,178],"adjusts":[39],"its":[40],"leg":[41,170],"configurations":[42],"maintain":[44],"while":[46],"traversing":[47],"or":[49],"inclined":[50],"surfaces.":[51],"By":[52],"integrating":[53],"with":[57],"standard":[58],"robot":[60],"controllers,":[61],"proposed":[63,194],"approach":[64],"enables":[65],"practical":[67,264],"deployment":[68],"six-axis":[70,267],"articulated":[72,269],"logistics":[75],"construction":[77],"A":[79],"novel":[80],"ground":[81],"reaction":[82],"force":[83,97],"(GRF)":[84],"estimation":[85],"scheme":[86],"is":[87,117,131,145,162,196],"proposed,":[88],"taking":[89],"advantage":[90],"lift-motor":[92],"torque":[93,108,136],"analysis":[94],"without":[95],"additional":[96],"sensors.":[98],"To":[99],"further":[100],"improve":[101],"accuracy":[103],"estimation,":[106],"friction":[107],"modeling":[109],"based":[110],"Sparse":[112],"Gaussian":[113],"Process":[114],"Regression":[115],"(SGPR)":[116],"incorporated":[118],"compensate":[120],"for":[121,247],"unmodeled":[122],"disturbances.":[123,224],"In":[124],"addition,":[125],"gravity":[127],"compensation":[128],"mechanism":[129],"(GCM)":[130],"implemented":[132],"reduce":[134],"actuator":[135],"requirements,":[137],"thereby":[138],"enhancing":[139],"overall":[140],"energy":[141],"efficiency.":[142],"Furthermore,":[143],"quantitatively":[146],"ensured":[147],"through":[148,198],"Zero":[150],"Moment":[151],"Point":[152],"(ZMP)-based":[153],"control":[154],"framework,":[155],"which":[157],"Sugano":[159],"degree":[161],"employed":[163],"optimize":[165],"pan":[166],"angles":[167],"under":[168,222],"various":[169],"lift":[171],"configurations.":[172],"allows":[174],"system":[176,230],"adapt":[179],"center-of-mass":[181],"(CoM)":[182],"shifts,":[183],"ensuring":[184],"sustained":[185],"both":[188],"static":[189],"dynamic":[191],"scenarios.":[192],"The":[193,225],"validated":[197],"extensive":[199],"experiments,":[200],"including":[201],"slope":[202],"traversal":[203],"5\u00b0":[206],"incline,":[207],"real-time":[208],"adaptation":[209],"CoM":[211],"shifts":[212],"induced":[213],"by":[214],"10":[216],"kg":[217],"payload,":[218],"robustness":[220],"tests":[221],"external":[223],"results":[226],"confirm":[227],"effectively":[231],"minimizes":[232],"roll":[233],"pitch":[235],"deviations,":[236],"maintains":[237],"during":[239],"load":[240],"variations,":[241],"achieves":[243],"accurate":[244],"GRF":[245],"prediction":[246],"reliable":[248],"operation.":[249],"research":[251],"contributes":[252],"development":[255],"intelligent":[257],"manipulation":[259],"platforms":[260],"facilitate":[262],"use":[265],"unstructured":[272]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-27T00:00:00"}