{"id":"https://openalex.org/W2077026443","doi":"https://doi.org/10.1109/icra.2013.6630656","title":"Traction/braking force distribution algorithm for omni-directional all-wheel-independent-drive vehicles","display_name":"Traction/braking force distribution algorithm for omni-directional all-wheel-independent-drive vehicles","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2077026443","doi":"https://doi.org/10.1109/icra.2013.6630656","mag":"2077026443"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630656","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 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/A5076185690","display_name":"Tin Lun Lam","orcid":"https://orcid.org/0000-0002-6363-1446"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Tin Lun Lam","raw_affiliation_strings":["Smart China Research, Smart China (Holdings) Limited, China","Smart China Res., Smart China (Holdings) Ltd., Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Smart China Research, Smart China (Holdings) Limited, China","institution_ids":[]},{"raw_affiliation_string":"Smart China Res., Smart China (Holdings) Ltd., Hong Kong, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103196036","display_name":"Jingyu Yan","orcid":"https://orcid.org/0000-0002-2614-1368"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingyu Yan","raw_affiliation_strings":["Smart China Research, Smart China (Holdings) Limited, China","Smart China Res., Smart China (Holdings) Ltd., Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Smart China Research, Smart China (Holdings) Limited, China","institution_ids":[]},{"raw_affiliation_string":"Smart China Res., Smart China (Holdings) Ltd., Hong Kong, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["Chinese University of Hong Kong, New Territories, HK","Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong, New Territories, HK","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China#TAB#","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112309496","display_name":"Yangsheng Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangsheng Xu","raw_affiliation_strings":["Chinese University of Hong Kong, New Territories, HK","Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong, New Territories, HK","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China#TAB#","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076185690"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.438,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7097886,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"746","last_page":"751"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9976999759674072,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.750158429145813},{"id":"https://openalex.org/keywords/centripetal-force","display_name":"Centripetal force","score":0.7497426867485046},{"id":"https://openalex.org/keywords/tractive-force","display_name":"Tractive force","score":0.7494634389877319},{"id":"https://openalex.org/keywords/threshold-braking","display_name":"Threshold braking","score":0.743939220905304},{"id":"https://openalex.org/keywords/electronic-brakeforce-distribution","display_name":"Electronic brakeforce distribution","score":0.6991406679153442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5532174706459045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5367931127548218},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5181238055229187},{"id":"https://openalex.org/keywords/dynamic-braking","display_name":"Dynamic braking","score":0.5061971545219421},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4254280626773834},{"id":"https://openalex.org/keywords/engine-braking","display_name":"Engine braking","score":0.42531710863113403},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4164807200431824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31625896692276},{"id":"https://openalex.org/keywords/braking-system","display_name":"Braking system","score":0.21451619267463684},{"id":"https://openalex.org/keywords/retarder","display_name":"Retarder","score":0.13370946049690247},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.10945498943328857},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10855913162231445},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09525537490844727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07115989923477173}],"concepts":[{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.750158429145813},{"id":"https://openalex.org/C101302269","wikidata":"https://www.wikidata.org/wiki/Q172881","display_name":"Centripetal force","level":2,"score":0.7497426867485046},{"id":"https://openalex.org/C32520587","wikidata":"https://www.wikidata.org/wiki/Q2142522","display_name":"Tractive force","level":2,"score":0.7494634389877319},{"id":"https://openalex.org/C77338312","wikidata":"https://www.wikidata.org/wiki/Q3087415","display_name":"Threshold braking","level":3,"score":0.743939220905304},{"id":"https://openalex.org/C202208690","wikidata":"https://www.wikidata.org/wiki/Q739519","display_name":"Electronic brakeforce distribution","level":4,"score":0.6991406679153442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5532174706459045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5367931127548218},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5181238055229187},{"id":"https://openalex.org/C158549904","wikidata":"https://www.wikidata.org/wiki/Q1155327","display_name":"Dynamic braking","level":3,"score":0.5061971545219421},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4254280626773834},{"id":"https://openalex.org/C192843390","wikidata":"https://www.wikidata.org/wiki/Q176705","display_name":"Engine braking","level":3,"score":0.42531710863113403},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4164807200431824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31625896692276},{"id":"https://openalex.org/C2988389982","wikidata":"https://www.wikidata.org/wiki/Q1534839","display_name":"Braking system","level":3,"score":0.21451619267463684},{"id":"https://openalex.org/C33107880","wikidata":"https://www.wikidata.org/wiki/Q1779780","display_name":"Retarder","level":2,"score":0.13370946049690247},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.10945498943328857},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10855913162231445},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09525537490844727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07115989923477173},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630656","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 Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7599999904632568,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1669104078","https://openalex.org/W1964565648","https://openalex.org/W1967997872","https://openalex.org/W1968603427","https://openalex.org/W2001565859","https://openalex.org/W2008383874","https://openalex.org/W2009613504","https://openalex.org/W2013753693","https://openalex.org/W2021246046","https://openalex.org/W2026564108","https://openalex.org/W2073397154","https://openalex.org/W2083250856","https://openalex.org/W2110670129","https://openalex.org/W2121851870","https://openalex.org/W2132174730","https://openalex.org/W2135437379","https://openalex.org/W2138523214","https://openalex.org/W2145368856","https://openalex.org/W2150258685","https://openalex.org/W2155623974","https://openalex.org/W2162664626","https://openalex.org/W2163825260","https://openalex.org/W2167626990","https://openalex.org/W6655737426","https://openalex.org/W6680262145"],"related_works":["https://openalex.org/W2472810094","https://openalex.org/W3215107875","https://openalex.org/W2254396532","https://openalex.org/W4214851085","https://openalex.org/W3001417686","https://openalex.org/W2375132222","https://openalex.org/W3216455689","https://openalex.org/W2380718615","https://openalex.org/W2392417214","https://openalex.org/W2034681671"],"abstract_inverted_index":{"In":[0,21],"this":[1],"paper,":[2],"a":[3,15,44],"traction/braking":[4],"force":[5,32,52,69,95],"distribution":[6,96],"algorithm":[7,55,72],"for":[8],"omni-directional":[9,57],"all-wheel-independent-drive":[10],"vehicles":[11,76,100],"is":[12,61,73],"proposed":[13,23,94],"as":[14,41],"tool":[16],"to":[17,42,88],"enhance":[18],"driving":[19,35,82],"stability.":[20,101],"the":[22,25,28,90,93],"algorithm,":[24],"amount":[26],"of":[27,63,92],"traction":[29,66],"or":[30],"braking":[31,68],"on":[33,75],"each":[34],"wheel":[36],"can":[37],"be":[38],"determined":[39],"so":[40],"generate":[43],"desired":[45],"tangential":[46],"force,":[47],"yaw":[48],"moment":[49],"and":[50,60,67],"centripetal":[51],"independently.":[53],"The":[54,71],"considers":[56],"steering":[58],"command":[59],"capable":[62],"handling":[64],"both":[65],"commands.":[70],"applicable":[74],"with":[77],"at":[78],"least":[79],"three":[80],"independent":[81],"wheels.":[83],"Simulations":[84],"have":[85],"been":[86],"conducted":[87],"illustrate":[89],"use":[91],"method":[97],"in":[98],"enhancing":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}