{"id":"https://openalex.org/W2973386060","doi":"https://doi.org/10.1109/coase.2019.8843186","title":"An Adaptive Chain-type Treadmill-Based Traction Testbed for the Wheeled Planetary Exploration Rover: Design, Modeling and Experimental Validation","display_name":"An Adaptive Chain-type Treadmill-Based Traction Testbed for the Wheeled Planetary Exploration Rover: Design, Modeling and Experimental Validation","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2973386060","doi":"https://doi.org/10.1109/coase.2019.8843186","mag":"2973386060"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2019.8843186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8843186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th 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/A5059277742","display_name":"Haitao Yu","orcid":"https://orcid.org/0000-0002-1304-3988"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haitao Yu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongiiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongiiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723721","display_name":"Cao Li","orcid":"https://orcid.org/0000-0002-9043-4210"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao Li","raw_affiliation_strings":["Beijing Institute of Astronautical Systems Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Astronautical Systems Engineering, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090991052","display_name":"Limeng Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Limeng Tan","raw_affiliation_strings":["Beijing Institute of Spacecraft System Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Spacecraft System Engineering, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101467753","display_name":"Shengjun Wang","orcid":"https://orcid.org/0000-0002-9450-2890"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengjun Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongiiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongiiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongiiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongiiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059277742"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.09973665,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1517","last_page":"1523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9948999881744385,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9771000146865845,"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/testbed","display_name":"Testbed","score":0.8527677059173584},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6994006037712097},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.6114732623100281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5974810719490051},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4852480888366699},{"id":"https://openalex.org/keywords/tractive-force","display_name":"Tractive force","score":0.4759785234928131},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.46421292424201965},{"id":"https://openalex.org/keywords/traction-control-system","display_name":"Traction control system","score":0.4425753355026245},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4196876883506775},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3688724637031555},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3381936550140381},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3136369287967682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3103952705860138},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20606368780136108}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.8527677059173584},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6994006037712097},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6114732623100281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5974810719490051},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4852480888366699},{"id":"https://openalex.org/C32520587","wikidata":"https://www.wikidata.org/wiki/Q2142522","display_name":"Tractive force","level":2,"score":0.4759785234928131},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.46421292424201965},{"id":"https://openalex.org/C167947727","wikidata":"https://www.wikidata.org/wiki/Q433478","display_name":"Traction control system","level":2,"score":0.4425753355026245},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4196876883506775},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3688724637031555},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3381936550140381},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3136369287967682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3103952705860138},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20606368780136108},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2019.8843186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8843186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1602448039","https://openalex.org/W1789658038","https://openalex.org/W1972855608","https://openalex.org/W1975647864","https://openalex.org/W1981225035","https://openalex.org/W1993314711","https://openalex.org/W2029058516","https://openalex.org/W2029266383","https://openalex.org/W2044881365","https://openalex.org/W2079321938","https://openalex.org/W2105676390","https://openalex.org/W2115075990","https://openalex.org/W2142558335","https://openalex.org/W2144328117","https://openalex.org/W2166271005","https://openalex.org/W2593412525","https://openalex.org/W2808973354","https://openalex.org/W6677250415"],"related_works":["https://openalex.org/W2775620166","https://openalex.org/W2393623725","https://openalex.org/W2750562350","https://openalex.org/W3109885014","https://openalex.org/W2352471066","https://openalex.org/W2366317207","https://openalex.org/W1580385887","https://openalex.org/W2249420668","https://openalex.org/W2527824863","https://openalex.org/W634009893"],"abstract_inverted_index":{"This":[0],"paper":[1],"present":[2],"a":[3,24,45,63,130],"novel":[4],"chain-type":[5,77],"treadmill-based":[6],"traction":[7,29,64,72,141],"testbed":[8],"for":[9],"the":[10,32,41,49,53,69,82,89,93,97,111,122,126,136,140,147,157,160],"wheeled":[11],"planetary":[12,131],"exploration":[13,132],"rover.":[14],"The":[15,57],"main":[16],"objective":[17],"of":[18,48,52,62,71,96,115,129,159],"this":[19],"work":[20],"is":[21,60,107],"to":[22,31,40,67,80,87,109,155],"develop":[23],"customized":[25],"testing":[26,143],"system":[27,59],"executing":[28],"loading":[30,39,65,73,90,101,113,152],"rover":[33,55,117,123,133],"body":[34],"together":[35],"with":[36,104],"drag":[37,83,150],"torque":[38,151],"individual":[42,116],"wheels,":[43],"providing":[44],"synthetic":[46],"evaluation":[47],"mobility":[50],"performance":[51],"Mar":[54],"platform.":[56],"overall":[58],"composed":[61],"subsystem":[66],"perform":[68],"task":[70],"and":[74],"six":[75],"modular":[76],"treadmill":[78],"subsystems":[79],"provide":[81],"torques.":[84],"In":[85],"order":[86],"improve":[88],"precision":[91],"onto":[92],"target":[94],"objects":[95],"rover,":[98],"an":[99],"adaptive":[100],"control":[102],"strategy":[103],"friction":[105],"compensation":[106],"proposed":[108],"satisfy":[110],"tailored":[112],"requirements":[114],"wheels":[118],"as":[119,121,144,146],"well":[120,145],"body.":[124],"Finally,":[125],"comprehensive":[127],"experiments":[128],"prototype":[134],"including":[135],"synchronous":[137],"motion":[138],"tracking,":[139],"capacity":[142],"varied":[148],"wheel":[149],"are":[153],"implemented":[154],"validate":[156],"effectiveness":[158],"devised":[161],"testbed.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
