{"id":"https://openalex.org/W2059693557","doi":"https://doi.org/10.1109/icmech.2013.6519117","title":"Workspace control of a wheel-legged mobile robot for gyrating locomotion with movable leg","display_name":"Workspace control of a wheel-legged mobile robot for gyrating locomotion with movable leg","publication_year":2013,"publication_date":"2013-02-01","ids":{"openalex":"https://openalex.org/W2059693557","doi":"https://doi.org/10.1109/icmech.2013.6519117","mag":"2059693557"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2013.6519117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6519117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5084869182","display_name":"A Suzumura","orcid":"https://orcid.org/0000-0002-9761-6279"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Suzumura","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Japan","Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026753908","display_name":"Yasutaka Fujimoto","orcid":"https://orcid.org/0000-0002-8106-5425"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Fujimoto","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Japan","Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I180203408"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"641","last_page":"647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7371501922607422},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7347481846809387},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.719902753829956},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6599922180175781},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.599941611289978},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5611617565155029},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5591760277748108},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5472807288169861},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5102474689483643},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5066316723823547},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5023744106292725},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5012128353118896},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4671822190284729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44434672594070435},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2418363094329834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23637095093727112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20899313688278198},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19325917959213257},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17125368118286133},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08990857005119324}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7371501922607422},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7347481846809387},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.719902753829956},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6599922180175781},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.599941611289978},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5611617565155029},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5591760277748108},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5472807288169861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5102474689483643},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5066316723823547},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5023744106292725},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5012128353118896},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4671822190284729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44434672594070435},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2418363094329834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23637095093727112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20899313688278198},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19325917959213257},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17125368118286133},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08990857005119324},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/icmech.2013.6519117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6519117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","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":23,"referenced_works":["https://openalex.org/W1891197240","https://openalex.org/W1906263073","https://openalex.org/W1998480117","https://openalex.org/W2028850192","https://openalex.org/W2042803738","https://openalex.org/W2069337312","https://openalex.org/W2075563159","https://openalex.org/W2096323098","https://openalex.org/W2121985869","https://openalex.org/W2122084333","https://openalex.org/W2125303974","https://openalex.org/W2126826364","https://openalex.org/W2136991897","https://openalex.org/W2140633561","https://openalex.org/W2149012351","https://openalex.org/W2162147935","https://openalex.org/W2169673025","https://openalex.org/W3152051745","https://openalex.org/W4242059591","https://openalex.org/W6639944174","https://openalex.org/W6678655320","https://openalex.org/W6680520992","https://openalex.org/W6680966937"],"related_works":["https://openalex.org/W2537091977","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"We":[0,14,119],"discuss":[1],"motion":[2,142],"generation":[3,31,143],"problems":[4,19],"of":[5,20,23,32,43,46,86,110,116,140],"a":[6,100],"wheel-legged":[7],"mobile":[8],"robot":[9],"(WLMR)":[10],"with":[11],"movable":[12],"legs.":[13],"consider":[15],"and":[16],"solve":[17,76],"two":[18],"inverse":[21,51,87],"kinematics":[22,52,88],"WLMRs.":[24],"The":[25,95],"first":[26],"problem":[27,97,102,124],"occurs":[28,104],"in":[29,57,62,89,133],"the":[30,41,44,47,58,71,84,90,107,113,117,130,134,138],"steering":[33,73],"commands":[34],"for":[35,53,82],"WLMRs,":[36,83],"which":[37],"is":[38,66,93,99,145],"due":[39],"to":[40,69],"mechanism":[42],"structure":[45],"wheels.":[48],"In":[49],"general,":[50],"WLMRs":[54],"are":[55],"applied":[56],"velocity":[59],"level.":[60],"However,":[61],"our":[63,141],"case,":[64],"it":[65],"not":[67],"possible":[68],"generate":[70],"proper":[72],"motion.":[74],"To":[75],"this":[77,122],"problem,":[78],"we":[79],"show":[80,120],"that":[81,103,121],"application":[85],"acceleration":[91],"level":[92],"effective.":[94],"second":[96],"addressed":[98],"singularity":[101,123],"when":[105],"controlling":[106],"contact":[108],"point":[109],"legs":[111],"during":[112],"wheeled":[114],"locomotion":[115],"WLMR.":[118],"can":[125],"be":[126],"avoided":[127],"by":[128,147],"utilizing":[129],"redundancy":[131],"present":[132],"wheel-leg":[135],"mechanism.":[136],"Finally,":[137],"effectiveness":[139],"schemes":[144],"validated":[146],"conducting":[148],"precise,":[149],"three-dimensional":[150],"simulations.":[151]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
