{"id":"https://openalex.org/W2525071142","doi":"https://doi.org/10.1109/aim.2016.7576857","title":"Modeling of a variable diameter wheeled robot for traversing rough terrain","display_name":"Modeling of a variable diameter wheeled robot for traversing rough terrain","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2525071142","doi":"https://doi.org/10.1109/aim.2016.7576857","mag":"2525071142"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2016.7576857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576857","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5028823744","display_name":"Mohamad Alsalman","orcid":null},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Mohamad Alsalman","raw_affiliation_strings":["Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049264238","display_name":"Elie Shammas","orcid":"https://orcid.org/0000-0002-3604-334X"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Elie Shammas","raw_affiliation_strings":["Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086667285","display_name":"Daniel Asmar","orcid":"https://orcid.org/0000-0002-4932-9777"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Daniel Asmar","raw_affiliation_strings":["Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010140692","display_name":"Naseem Daher","orcid":"https://orcid.org/0000-0002-3292-0261"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Naseem Daher","raw_affiliation_strings":["Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028823744"],"corresponding_institution_ids":["https://openalex.org/I98635879"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.11581098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"745","last_page":"750"},"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":0.9993000030517578,"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":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.9344812631607056},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7244207859039307},{"id":"https://openalex.org/keywords/ode","display_name":"Ode","score":0.6587539315223694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5498358011245728},{"id":"https://openalex.org/keywords/ordinary-differential-equation","display_name":"Ordinary differential equation","score":0.5370044112205505},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5150225162506104},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5088394284248352},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5016627311706543},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5009424686431885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49497073888778687},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4727391004562378},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4608762562274933},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.45684871077537537},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4469616711139679},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.3991120457649231},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27709782123565674},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23430123925209045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20983219146728516},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16271835565567017},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15012043714523315},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0910959541797638},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.08824476599693298},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06818392872810364},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.06696611642837524}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.9344812631607056},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7244207859039307},{"id":"https://openalex.org/C34862557","wikidata":"https://www.wikidata.org/wiki/Q178985","display_name":"Ode","level":2,"score":0.6587539315223694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5498358011245728},{"id":"https://openalex.org/C51544822","wikidata":"https://www.wikidata.org/wiki/Q465274","display_name":"Ordinary differential equation","level":3,"score":0.5370044112205505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5150225162506104},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5088394284248352},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5016627311706543},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5009424686431885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49497073888778687},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4727391004562378},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4608762562274933},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.45684871077537537},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4469616711139679},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.3991120457649231},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27709782123565674},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23430123925209045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20983219146728516},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16271835565567017},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15012043714523315},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0910959541797638},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.08824476599693298},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06818392872810364},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.06696611642837524},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2016.7576857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576857","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W173497841","https://openalex.org/W1577469883","https://openalex.org/W1975537977","https://openalex.org/W1981092071","https://openalex.org/W1997920825","https://openalex.org/W1999218300","https://openalex.org/W2043464445","https://openalex.org/W2059805724","https://openalex.org/W2075151302","https://openalex.org/W2105746782","https://openalex.org/W2107957546","https://openalex.org/W2126311295","https://openalex.org/W2140372825","https://openalex.org/W2154502479","https://openalex.org/W2158681622","https://openalex.org/W3197218737"],"related_works":["https://openalex.org/W3082668976","https://openalex.org/W2517973022","https://openalex.org/W1543121148","https://openalex.org/W1580703421","https://openalex.org/W2996841952","https://openalex.org/W2618518959","https://openalex.org/W2231364979","https://openalex.org/W4295745414","https://openalex.org/W4288093367","https://openalex.org/W4382202915"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,8,43],"three":[4],"dimensional":[5],"model":[6,30],"for":[7,18],"variable-diameter":[9],"wheeled":[10],"mobile":[11],"base":[12],"is":[13,16,31,40,50],"introduced":[14,29],"which":[15],"tailored":[17],"modeling":[19],"locomotion":[20,96],"on":[21],"rough":[22],"terrain.":[23,115],"The":[24],"motion":[25,36,85],"planning":[26],"of":[27,37,56,64,84],"the":[28,34,38,53,57,68,79,92,114],"novel,":[32],"since":[33],"forward":[35],"robot":[39],"governed":[41,51],"by":[42,52],"central":[44],"rolling":[45],"disk,":[46,58],"while":[47],"its":[48],"steering":[49],"lateral":[54],"shifting":[55],"thus":[59],"yielding":[60],"relatively":[61],"complex":[62],"equations":[63,89],"motion.":[65],"To":[66],"simplify":[67],"numerical":[69],"simulations,":[70],"new":[71],"constraint":[72],"stabilization":[73],"techniques":[74],"are":[75,98],"developed":[76,93],"to":[77,86,100,108],"transform":[78],"Differential":[80],"Algebraic":[81],"Equations":[82],"(DAE)":[83],"ordinary":[87],"differential":[88],"(ODE).":[90],"Using":[91],"model,":[94],"several":[95],"simulations":[97],"performed":[99],"traverse":[101],"optimal":[102],"planar":[103],"trajectories":[104],"as":[105,107],"well":[106],"mitigate":[109],"bumps":[110],"or":[111],"disturbances":[112],"in":[113]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}