{"id":"https://openalex.org/W7162013436","doi":"https://doi.org/10.1109/access.2026.3695701","title":"Stair-Climbing Strategy in a Novel Wheel-Legged Hybrid Robot","display_name":"Stair-Climbing Strategy in a Novel Wheel-Legged Hybrid Robot","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7162013436","doi":"https://doi.org/10.1109/access.2026.3695701"},"language":null,"primary_location":{"id":"doi:10.1109/access.2026.3695701","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3695701","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.2026.3695701","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136637749","display_name":"Wei-Ting Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Ting Chen","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119524478","display_name":"En-Chieh Tsui","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"En-Chieh Tsui","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0009-0008-8768-9723","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023906279","display_name":"Wei-Shun Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Shun Yu","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136696965","display_name":"Shao-Yu Chien","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129657","display_name":"Delta Electronics (Taiwan)","ror":"https://ror.org/03acb7p04","country_code":"TW","type":"company","lineage":["https://openalex.org/I4210129657"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shao-Yu Chien","raw_affiliation_strings":["Delta Electronics Inc., Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9314-3112","affiliations":[{"raw_affiliation_string":"Delta Electronics Inc., Taipei, Taiwan","institution_ids":["https://openalex.org/I4210129657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037820831","display_name":"Bo-Rui Chen","orcid":"https://orcid.org/0000-0001-9083-0822"},"institutions":[{"id":"https://openalex.org/I4210129657","display_name":"Delta Electronics (Taiwan)","ror":"https://ror.org/03acb7p04","country_code":"TW","type":"company","lineage":["https://openalex.org/I4210129657"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Bo-Rui Chen","raw_affiliation_strings":["Delta Electronics Inc., Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9083-0822","affiliations":[{"raw_affiliation_string":"Delta Electronics Inc., Taipei, Taiwan","institution_ids":["https://openalex.org/I4210129657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5136616521","display_name":"Pei-Chun Lin","orcid":"https://orcid.org/0000-0001-9146-3817"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Pei-Chun Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9146-3817","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":0.5852296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"80782","last_page":"80801"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8537999987602234,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8537999987602234,"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":0.05180000141263008,"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":0.02459999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5676000118255615},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41499999165534973},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.361299991607666},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3476000130176544},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.26919999718666077}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7210000157356262},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5676000118255615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4544999897480011},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41499999165534973},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.361299991607666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3531999886035919},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3476000130176544},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2842999994754791},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26409998536109924}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2026.3695701","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3695701","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.2026.3695701","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3695701","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":[{"id":"https://openalex.org/G4698355718","display_name":null,"funder_award_id":"113HT907018","funder_id":"https://openalex.org/F4320318804","funder_display_name":"Delta Electronics"}],"funders":[{"id":"https://openalex.org/F4320318804","display_name":"Delta Electronics","ror":"https://ror.org/04s3g5933"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Stair":[0],"climbing":[1,139],"remains":[2],"one":[3],"of":[4,46,131,158],"the":[5,44,83],"most":[6],"challenging":[7],"tasks":[8],"for":[9,72,176],"autonomous":[10],"mobile":[11,178],"robots,":[12],"especially":[13],"in":[14,143,150],"environments":[15],"with":[16],"varying":[17],"step":[18,98],"dimensions":[19],"and":[20,49,92,95,109,128,156,172],"limited":[21],"foothold":[22],"stability.":[23],"Existing":[24],"wheeled":[25],"robots":[26,39],"exhibit":[27],"high":[28,47,138],"energy":[29],"efficiency":[30],"but":[31],"lack":[32],"adaptability":[33],"to":[34,113,147,161],"discontinuous":[35],"stairs,":[36],"while":[37],"legged":[38,163],"offer":[40],"superior":[41],"stability":[42,115],"at":[43],"cost":[45],"mechanical":[48],"control":[50,159],"complexity.":[51],"To":[52],"tackle":[53],"this":[54,56],"problem,":[55],"paper":[57],"reports":[58],"on":[59,65,125],"an":[60],"adaptive":[61],"stair-climbing":[62,84],"strategy":[63,119],"based":[64],"a":[66,73,137],"circular":[67],"finite-state":[68],"machine":[69],"(FSM)":[70],"concept":[71],"novel":[74],"Wheel-legged":[75],"hybrid":[76],"robot,":[77],"Kilin.":[78],"The":[79,118,134,165],"proposed":[80,166],"method":[81],"decomposes":[82],"process":[85],"into":[86,99],"three":[87],"steps":[88],"\u2014":[89,94,102,112],"Enter-stair,":[90],"Mid-stair,":[91],"Leave-stair":[93],"divides":[96],"each":[97],"four":[100],"states":[101],"Fall":[103],"prevention,":[104],"Leg":[105],"rotation,":[106],"Body":[107],"raising,":[108],"Riser":[110],"detection":[111],"ensure":[114],"during":[116],"transitions.":[117],"was":[120],"validated":[121],"through":[122],"extensive":[123],"experiments":[124],"various":[126],"indoor":[127],"outdoor":[129],"stairs":[130],"different":[132],"dimensions.":[133],"results":[135],"demonstrate":[136],"success":[140],"rate":[141],"and,":[142],"some":[144],"cases,":[145],"up":[146],"30%":[148],"reduction":[149],"pitch":[151],"angle,":[152],"significantly":[153],"improving":[154],"comfort":[155],"ease":[157],"compared":[160],"conventional":[162],"robots.":[164],"approach":[167],"enables":[168],"reliable":[169],"stair":[170],"traversal":[171],"shows":[173],"strong":[174],"potential":[175],"multi-terrain":[177],"robot":[179],"applications.":[180]},"counts_by_year":[],"updated_date":"2026-06-02T06:17:35.589633","created_date":"2026-05-22T00:00:00"}
