{"id":"https://openalex.org/W2088108165","doi":"https://doi.org/10.1109/coase.2014.6899323","title":"Influences of lug motion on lug-soil reaction forces in sandy soil","display_name":"Influences of lug motion on lug-soil reaction forces in sandy soil","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2088108165","doi":"https://doi.org/10.1109/coase.2014.6899323","mag":"2088108165"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2014.6899323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5106263924","display_name":"Ryohei Yamamoto","orcid":"https://orcid.org/0000-0001-9789-3690"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryohei Yamamoto","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397669","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0002-7747-6707"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650176","display_name":"Yi Sun","orcid":"https://orcid.org/0000-0002-8019-6765"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yi Sun","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan","School of Electrical Engineering and Automation, Tianjin University, China"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5106263924"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.18827928,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"176","last_page":"181"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T12792","display_name":"Soil Management and Crop Yield","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/1111","display_name":"Soil Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12201","display_name":"Agricultural Engineering and Mechanization","score":0.9609000086784363,"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/traction","display_name":"Traction (geology)","score":0.8308578729629517},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5511870980262756},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5308331847190857},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4475371539592743},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.4136675298213959},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3409879803657532},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.33968472480773926},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33637556433677673},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30190587043762207},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1810423731803894},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1369454264640808},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.12627866864204407},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08682376146316528},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.07302477955818176}],"concepts":[{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.8308578729629517},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5511870980262756},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5308331847190857},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4475371539592743},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.4136675298213959},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3409879803657532},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.33968472480773926},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33637556433677673},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30190587043762207},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1810423731803894},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1369454264640808},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.12627866864204407},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08682376146316528},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.07302477955818176}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2014.6899323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1975647864","https://openalex.org/W1989063866","https://openalex.org/W2010284940","https://openalex.org/W2029266383","https://openalex.org/W2052178748","https://openalex.org/W2063812731","https://openalex.org/W2079321938","https://openalex.org/W2090564399","https://openalex.org/W2092392895","https://openalex.org/W2289628916"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W1929120455","https://openalex.org/W2753556613"],"abstract_inverted_index":{"Wheeled":[0],"mobile":[1],"robots":[2],"working":[3],"on":[4,19,36,44,53,87,100],"sandy":[5],"soil":[6,83],"(e.g.":[7],"planetary":[8],"surface,":[9],"desert,":[10],"etc.)":[11],"are":[12,56,67],"commonly":[13],"equipped":[14],"with":[15],"lugs":[16,33,52,66],"(i.e.":[17],"grousers)":[18],"wheels":[20],"to":[21],"improve":[22],"travelling":[23],"performance.":[24],"It":[25],"has":[26],"been":[27],"verified":[28],"that":[29],"presence":[30],"of":[31,40,50,62,77,114,126],"these":[32],"significantly":[34],"affects":[35],"the":[37,41,48,59,63,75,82,108,127],"traction":[38,54],"performance":[39,55],"locomotion":[42],"mechanisms":[43],"soft":[45],"terrains.":[46],"However,":[47],"influences":[49,76],"movable":[51],"unclear,":[57],"since":[58],"motion":[60,97],"behavior":[61],"conventional":[64],"fixed":[65],"interfered":[68],"by":[69],"wheel's":[70],"motion.":[71],"To":[72],"quantitatively":[73],"confirm":[74],"lug's":[78,115],"motion,":[79,116],"we":[80,103],"measured":[81],"reaction":[84],"forces":[85,111],"acting":[86],"a":[88],"single":[89],"actively":[90],"actuated":[91],"lug":[92],"without":[93],"wheel":[94],"in":[95],"various":[96],"scenarios.":[98],"Based":[99],"experimental":[101],"results,":[102],"mathematically":[104],"established":[105],"relationships":[106],"between":[107],"lug-soil":[109],"interaction":[110],"and":[112,123],"parameters":[113],"such":[117],"as":[118],"inclination":[119],"angle,":[120],"moving":[121],"velocity,":[122],"sinkage":[124],"length":[125],"lug.":[128]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
