{"id":"https://openalex.org/W2095315722","doi":"https://doi.org/10.1109/icra.2013.6631385","title":"Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels","display_name":"Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2095315722","doi":"https://doi.org/10.1109/icra.2013.6631385","mag":"2095315722"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631385","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/A5029721018","display_name":"Yoo-Seok Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yoo-Seok Kim","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002612725","display_name":"Gwang-Pil Jung","orcid":"https://orcid.org/0000-0003-2580-3304"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gwang-Pil Jung","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002569850","display_name":"Haan Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Haan Kim","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyu-Jin Cho","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018748550","display_name":"Chong-Nam Chu","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chong-Nam Chu","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"[Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea]","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5029721018"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.7994,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.73813641,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5625","last_page":"5630"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9961000084877014,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.9324154853820801},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7965155839920044},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6382242441177368},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6209549903869629},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5977441072463989},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4746302366256714},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4565716087818146},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3784712255001068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3648407459259033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1944892704486847},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13869446516036987},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09081882238388062}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.9324154853820801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7965155839920044},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6382242441177368},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6209549903869629},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5977441072463989},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4746302366256714},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4565716087818146},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3784712255001068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3648407459259033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1944892704486847},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13869446516036987},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09081882238388062},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631385","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1822001265","https://openalex.org/W1964047677","https://openalex.org/W2099660316","https://openalex.org/W2106109021","https://openalex.org/W2110339875","https://openalex.org/W2121672206","https://openalex.org/W2132442334","https://openalex.org/W2143298775","https://openalex.org/W2146709755","https://openalex.org/W2146760274","https://openalex.org/W2156341129","https://openalex.org/W6680868465","https://openalex.org/W6681682731"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2009505450","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2281433634","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2143648480"],"abstract_inverted_index":{"A":[0],"small":[1,111],"mobile":[2],"robot":[3,18,74,118,160,169],"that":[4,123],"uses":[5,124],"round":[6,77],"wheels":[7,68,78,95],"has":[8],"a":[9,52,116,125],"stable":[10],"ride":[11],"ability":[12],"on":[13,56,79,163],"flat":[14,57,80],"surfaces,":[15],"but":[16],"the":[17,28,73,89,103,153,159],"cannot":[19],"climb":[20,83,171],"an":[21,35,84,140,172],"obstacle":[22,85,173],"whose":[23,174],"height":[24,175],"is":[25,64,96,107,131,136,176],"greater":[26,179],"than":[27,180],"length":[29],"of":[30,62,91,128,165],"its":[31,181],"wheel":[32,130,155,182],"radius.":[33,183],"As":[34],"alternative,":[36],"legged-wheel":[37,49],"robots":[38,50],"have":[39,51],"been":[40],"proposed":[41],"for":[42,102,110],"their":[43,60],"better":[44],"climbing":[45],"performance.":[46],"However,":[47,88],"such":[48],"poor":[53],"driving":[54],"performance":[55],"surfaces":[58,81],"since":[59],"center":[61],"mass":[63],"vertically":[65],"changed.":[66],"Transformable":[67],"are":[69],"used":[70],"to":[71],"make":[72],"drive":[75],"with":[76,86],"and":[82],"legged-wheels.":[87],"design":[90],"previously":[92],"developed":[93],"transformable":[94,129,154],"complicated":[97],"because":[98],"it":[99,106,145],"needs":[100],"actuators":[101],"transformation.":[104],"Thus,":[105],"not":[108,147],"suitable":[109],"robots.":[112],"In":[113],"this":[114],"paper,":[115],"simple":[117],"platform":[119,161],"called":[120],"Wheel":[121],"Transformer":[122],"new":[126],"kind":[127],"described.":[132],"The":[133,168],"transformation":[134,166],"process":[135],"passively":[137],"operated":[138],"by":[139],"external":[141],"frictional":[142],"force,":[143],"so":[144],"does":[146],"need":[148],"any":[149],"actuators.":[150],"We":[151],"fabricate":[152],"as":[156,158],"well":[157],"based":[162],"analysis":[164],"mechanism.":[167],"can":[170],"2.6":[177],"times":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
