{"id":"https://openalex.org/W1971379688","doi":"https://doi.org/10.1109/icra.2012.6224645","title":"Step negotiation with wheel traction: a strategy for a wheel-legged robot","display_name":"Step negotiation with wheel traction: a strategy for a wheel-legged robot","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1971379688","doi":"https://doi.org/10.1109/icra.2012.6224645","mag":"1971379688"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5012428325","display_name":"Korhan Turker","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Korhan Turker","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, Canada","Department of Mechanical Engineering, McGill University, Montreal, H3A 2K6 Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Mechanical Engineering, McGill University, Montreal, H3A 2K6 Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013539978","display_name":"Inna Sharf","orcid":"https://orcid.org/0000-0001-5027-3646"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Inna Sharf","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, Canada","Department of Mechanical Engineering, McGill University, Montreal, H3A 2K6 Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Mechanical Engineering, McGill University, Montreal, H3A 2K6 Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108212076","display_name":"Michael Trentini","orcid":null},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"funder","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael Trentini","raw_affiliation_strings":["Autonomous Intelligent Systems Section Defence Research and Development Canada-Suffield, Medicine Hat, AB, Canada","Autonomous Intelligent Systems Section Defence R&D Canada - Suffield, Medicine Hat, Alberta, Canada"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Section Defence Research and Development Canada-Suffield, Medicine Hat, AB, Canada","institution_ids":["https://openalex.org/I1297460800"]},{"raw_affiliation_string":"Autonomous Intelligent Systems Section Defence R&D Canada - Suffield, Medicine Hat, Alberta, Canada","institution_ids":["https://openalex.org/I1297460800"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012428325"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":1.63804708,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.81857605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1168","last_page":"1174"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9810000061988831,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9771999716758728,"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/traction","display_name":"Traction (geology)","score":0.6922652721405029},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6505242586135864},{"id":"https://openalex.org/keywords/negotiation","display_name":"Negotiation","score":0.5813539028167725},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5355373024940491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5232999920845032},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46762615442276},{"id":"https://openalex.org/keywords/traction-control-system","display_name":"Traction control system","score":0.46613332629203796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29426705837249756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18488535284996033},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16475465893745422}],"concepts":[{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6922652721405029},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6505242586135864},{"id":"https://openalex.org/C199776023","wikidata":"https://www.wikidata.org/wiki/Q202875","display_name":"Negotiation","level":2,"score":0.5813539028167725},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5355373024940491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5232999920845032},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46762615442276},{"id":"https://openalex.org/C167947727","wikidata":"https://www.wikidata.org/wiki/Q433478","display_name":"Traction control system","level":2,"score":0.46613332629203796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29426705837249756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18488535284996033},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16475465893745422},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1974301635","https://openalex.org/W2016602068","https://openalex.org/W2029569297","https://openalex.org/W2090987359","https://openalex.org/W2092027115","https://openalex.org/W2120944055","https://openalex.org/W2121985869","https://openalex.org/W2138313736","https://openalex.org/W2157442177","https://openalex.org/W2168606231","https://openalex.org/W6654682743","https://openalex.org/W6677842180"],"related_works":["https://openalex.org/W2325887029","https://openalex.org/W1497592843","https://openalex.org/W2119729850","https://openalex.org/W2362298603","https://openalex.org/W2249420668","https://openalex.org/W2358296353","https://openalex.org/W4308865544","https://openalex.org/W646665958","https://openalex.org/W2093760635","https://openalex.org/W3027417552"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,91],"quasi-static":[4,19],"step":[5,39,78,101],"climbing":[6,20],"behaviour":[7],"for":[8,57],"minimal":[10],"sensing":[11],"wheel-legged":[12],"quadruped":[13],"robot":[14,23],"called":[15],"PAW.":[16],"In":[17],"the":[18,22,38,41,47,54,58,100,106],"maneuver,":[21],"benefits":[24],"from":[25],"wheel":[26],"traction":[27],"and":[28,53],"uses":[29],"its":[30,73],"legs":[31],"to":[32,37,68,81,105],"reconfigure":[33],"itself":[34],"with":[35,46,90],"respect":[36],"during":[40],"climb.":[42],"The":[43],"control":[44],"methodology":[45],"corresponding":[48],"controller":[49,95],"parameters":[50],"is":[51,60,66],"determined":[52],"state":[55],"machine":[56],"maneuver":[59],"developed.":[61],"With":[62],"this":[63,82],"controller,":[64],"PAW":[65],"able":[67],"climb":[69],"steps":[70],"higher":[71],"than":[72],"body":[74],"clearance.":[75],"Furthermore,":[76],"any":[77],"height":[79,85,102],"up":[80],"maximum":[83],"achievable":[84],"can":[86],"be":[87],"negotiated":[88],"autonomously":[89],"single":[92],"set":[93],"of":[94,99],"parameters,":[96],"without":[97],"knowledge":[98],"or":[103],"distance":[104],"step.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
