{"id":"https://openalex.org/W1991383538","doi":"https://doi.org/10.1109/icra.2014.6907281","title":"Effect of lug sinkage length to drawbar pull of a wheel with an actively actuated lug on sandy terrain","display_name":"Effect of lug sinkage length to drawbar pull of a wheel with an actively actuated lug on sandy terrain","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1991383538","doi":"https://doi.org/10.1109/icra.2014.6907281","mag":"1991383538"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100397669","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0002-7747-6707"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650176","display_name":"Yi Sun","orcid":"https://orcid.org/0000-0002-8019-6765"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yi Sun","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan","School of Electrical Engineering and Automation, Tianjin University, China"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100397669"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":2.2692,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87066183,"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":"2932","last_page":"2937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T12201","display_name":"Agricultural Engineering and Mechanization","score":0.9782000184059143,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9746999740600586,"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/terrain","display_name":"Terrain","score":0.8074644804000854},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.6458911299705505},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.6048760414123535},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5608834028244019},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.522264301776886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5119048357009888},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4668370485305786},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4346473813056946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41771331429481506},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36733943223953247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1435498297214508},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14315858483314514},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0843038558959961}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8074644804000854},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.6458911299705505},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6048760414123535},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5608834028244019},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.522264301776886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5119048357009888},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4668370485305786},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4346473813056946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41771331429481506},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36733943223953247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1435498297214508},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14315858483314514},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0843038558959961},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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":9,"referenced_works":["https://openalex.org/W1975388827","https://openalex.org/W1986469871","https://openalex.org/W2013989348","https://openalex.org/W2021649462","https://openalex.org/W2052178748","https://openalex.org/W2062958387","https://openalex.org/W2079321938","https://openalex.org/W2092069565","https://openalex.org/W4210274491"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4242718759","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Sandy":[0],"terrains":[1,45],"are":[2,72],"widely":[3],"distributed":[4],"on":[5,43,74,126,136,141,173],"this":[6,62,99],"planet":[7],"and":[8,12,90],"include":[9],"desert,":[10],"beach,":[11],"area":[13],"affected":[14],"by":[15,82,111,191],"volcanic":[16],"eruption":[17],"where":[18],"covered":[19],"with":[20,55,118,197,202],"ash.":[21],"Currently,":[22],"these":[23],"environments":[24],"still":[25],"present":[26],"a":[27,56,113,137,144,200,203],"challenge":[28],"for":[29,46,154],"mobile":[30,47],"robots":[31,48],"due":[32],"to":[33,50,103],"their":[34],"poor":[35],"trafficability.":[36],"One":[37],"of":[38,59,86,95,107,146,150,166,179,184,199],"the":[39,75,87,93,96,105,108,127,151,164,180,185,193],"most":[40],"essential":[41],"requirements":[42],"such":[44],"is":[49,133,159,188],"generate":[51],"enough":[52],"drawbar":[53,79,109,124,157,195],"pull":[54,80,110,125,158,196],"small":[57],"amount":[58],"slippage.":[60],"For":[61],"purpose,":[63],"protrusions":[64],"or":[65],"convex":[66],"patterns":[67],"called":[68],"lugs":[69,83],"(i.e.":[70],"grousers)":[71],"attached":[73],"wheels.":[76],"However,":[77],"oscillational":[78],"generated":[81,194],"results":[84],"vibration":[85],"robot":[88],"body":[89],"therefore":[91],"disturb":[92],"stability":[94],"robot.":[97],"In":[98],"paper,":[100],"we":[101],"aim":[102],"reduce":[104],"oscillation":[106],"proposing":[112],"novel":[114],"wheeled":[115],"mechanism":[116],"integrated":[117],"an":[119],"actively":[120],"actuated":[121],"lug.":[122,205],"The":[123,182],"sandy":[128],"terrain":[129],"in":[130],"fabricated":[131],"testbed":[132],"firstly":[134],"measured":[135,142],"prototype":[138],"mechanism.":[139],"Based":[140],"force,":[143],"strategy":[145],"tuning":[147],"sinkage":[148],"length":[149],"active":[152],"lug":[153],"generating":[155],"stable":[156],"proposed.":[160],"This":[161],"method":[162,187],"has":[163],"advantage":[165],"that":[167,198],"it":[168],"requires":[169],"neither":[170],"prior":[171],"knowledge":[172],"terramechanic":[174],"models":[175],"nor":[176],"physical":[177],"properties":[178],"terrain.":[181],"performance":[183],"proposed":[186],"finally":[189],"verified":[190],"comparing":[192],"wheel":[201],"fixed":[204]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}