{"id":"https://openalex.org/W1981993454","doi":"https://doi.org/10.1109/icara.2015.7081170","title":"Wheel spider with rolling locomotion: Modeling and simulation","display_name":"Wheel spider with rolling locomotion: Modeling and simulation","publication_year":2015,"publication_date":"2015-02-01","ids":{"openalex":"https://openalex.org/W1981993454","doi":"https://doi.org/10.1109/icara.2015.7081170","mag":"1981993454"},"language":"en","primary_location":{"id":"doi:10.1109/icara.2015.7081170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara.2015.7081170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","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/A5065106751","display_name":"Takuma Nemoto","orcid":"https://orcid.org/0000-0003-2159-6926"},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuma Nemoto","raw_affiliation_strings":["Tokyo Denki University, Adachi-ku, Tokyo","Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Denki University, Adachi-ku, Tokyo","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]},{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP","SG"],"is_corresponding":false,"raw_author_name":"Mohan Rajesh Elara","raw_affiliation_strings":["Tokyo Denki University, Adachi-ku, Tokyo","Singapore University of Technology and Design, 20 Dover Drive, Singapore 138682,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Denki University, Adachi-ku, Tokyo","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Singapore University of Technology and Design, 20 Dover Drive, Singapore 138682,","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069372300","display_name":"Shunsuke Nansai","orcid":"https://orcid.org/0000-0001-8459-9185"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]},{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP","SG"],"is_corresponding":false,"raw_author_name":"Shunsuke Nansai","raw_affiliation_strings":["Singapore University of Technology and Design","Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053576672","display_name":"Masami Iwase","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masami Iwase","raw_affiliation_strings":["Tokyo Denki University, Adachi-ku, Tokyo","Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Denki University, Adachi-ku, Tokyo","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Japan","institution_ids":["https://openalex.org/I165522056"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1819,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55016918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"81","issue":null,"first_page":"337","last_page":"342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9968000054359436,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/spider","display_name":"Spider","score":0.7846901416778564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6094803214073181},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5630180835723877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5324388742446899},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5118907690048218},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47390449047088623},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4424917995929718},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4367442727088928},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38876986503601074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2855795621871948},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.233266681432724},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2317790687084198},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18807744979858398},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17446616291999817},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09163561463356018},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.08835744857788086}],"concepts":[{"id":"https://openalex.org/C2780181586","wikidata":"https://www.wikidata.org/wiki/Q3966705","display_name":"Spider","level":2,"score":0.7846901416778564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6094803214073181},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5630180835723877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5324388742446899},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5118907690048218},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47390449047088623},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4424917995929718},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4367442727088928},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38876986503601074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2855795621871948},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.233266681432724},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2317790687084198},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18807744979858398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17446616291999817},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09163561463356018},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.08835744857788086},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara.2015.7081170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara.2015.7081170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1490099585","https://openalex.org/W1495079266","https://openalex.org/W2004664957","https://openalex.org/W2010745100","https://openalex.org/W2069194981","https://openalex.org/W2072225778","https://openalex.org/W2106979901","https://openalex.org/W2120202401","https://openalex.org/W2177548770","https://openalex.org/W2506849621"],"related_works":["https://openalex.org/W3116347567","https://openalex.org/W2054489131","https://openalex.org/W2989850994","https://openalex.org/W1823320495","https://openalex.org/W2349288810","https://openalex.org/W3045804027","https://openalex.org/W1540548894","https://openalex.org/W2551647223","https://openalex.org/W1850180652","https://openalex.org/W2183364220"],"abstract_inverted_index":{"This":[0],"study":[1],"aims":[2],"to":[3,25,47,60],"develop":[4],"mathematical":[5],"model":[6,37,51],"which":[7],"can":[8,15,94],"capture":[9],"behavior":[10,24],"of":[11,22],"\u201cwheel":[12],"spider\u201d":[13],"that":[14,68],"perform":[16],"rolling":[17,34,79],"locomotion":[18,29],"and":[19,55],"analyze":[20],"characteristics":[21],"the":[23,45,53,69,91,97],"realize":[26],"biologically":[27],"inspired":[28],"by":[30,40],"robots.":[31],"Therefore,":[32],"a":[33,48,63,75,100],"wheel":[35,49,70,92],"spider":[36,50,71,93],"is":[38,82],"developed":[39],"applying":[41],"constraint":[42],"force":[43],"on":[44],"ground":[46,54],"without":[52,103],"considering":[56],"velocity":[57,86],"transformation":[58],"due":[59],"collision.":[61],"As":[62],"result,":[64],"it":[65,81],"was":[66],"found":[67],"goes":[72],"downhill":[73],"at":[74],"constant":[76],"speed":[77],"with":[78,84],"whether":[80],"provided":[83],"initial":[85,105],"or":[87],"not.":[88],"In":[89],"conclusion,":[90],"go":[95],"down":[96],"slope":[98],"over":[99],"certain":[101],"pitch":[102],"providing":[104],"velocity.":[106]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}