{"id":"https://openalex.org/W2003715139","doi":"https://doi.org/10.1109/icra.2014.6907835","title":"Effect of normal force dispersion on the mobility of wheeled robots operating on soft soil","display_name":"Effect of normal force dispersion on the mobility of wheeled robots operating on soft soil","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2003715139","doi":"https://doi.org/10.1109/icra.2014.6907835","mag":"2003715139"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907835","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":"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/A5051414889","display_name":"Bahareh Ghotbi","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":false,"raw_author_name":"Bahareh Ghotbi","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, Canada","Department of Mechanical Engineering and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada"],"raw_orcid":null,"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 and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084992752","display_name":"Francisco Gonz\u00e1lez","orcid":"https://orcid.org/0000-0003-0187-7990"},"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":"Francisco Gonzalez","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, Canada","Department of Mechanical Engineering and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada"],"raw_orcid":null,"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 and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111626268","display_name":"J\u00f3zsef K\u00f6vecses","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":false,"raw_author_name":"Jozsef Kovecses","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, Canada","Department of Mechanical Engineering and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada"],"raw_orcid":null,"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 and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050152352","display_name":"Jorge Angeles","orcid":"https://orcid.org/0000-0002-0835-1492"},"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":"Jorge Angeles","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, Canada","Department of Mechanical Engineering and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada"],"raw_orcid":null,"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 and the Centre for Intelligent Machines, McGill University, Montreal, Quebec H3A 0C3, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"57","issue":null,"first_page":"6612","last_page":"6617"},"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/T12732","display_name":"Agriculture and Farm Safety","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12201","display_name":"Agricultural Engineering and Mechanization","score":0.9835000038146973,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7306884527206421},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6978363990783691},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.6401355266571045},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5427489876747131},{"id":"https://openalex.org/keywords/normal-force","display_name":"Normal force","score":0.5404383540153503},{"id":"https://openalex.org/keywords/tractive-force","display_name":"Tractive force","score":0.529272198677063},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5200983285903931},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4588715136051178},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.437358558177948},{"id":"https://openalex.org/keywords/dispersion","display_name":"Dispersion (optics)","score":0.42991548776626587},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4082859754562378},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26369547843933105},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1816314458847046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12398722767829895},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11431443691253662},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.07576334476470947}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7306884527206421},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6978363990783691},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.6401355266571045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5427489876747131},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.5404383540153503},{"id":"https://openalex.org/C32520587","wikidata":"https://www.wikidata.org/wiki/Q2142522","display_name":"Tractive force","level":2,"score":0.529272198677063},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5200983285903931},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4588715136051178},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.437358558177948},{"id":"https://openalex.org/C177562468","wikidata":"https://www.wikidata.org/wiki/Q182893","display_name":"Dispersion (optics)","level":2,"score":0.42991548776626587},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4082859754562378},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26369547843933105},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1816314458847046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12398722767829895},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11431443691253662},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.07576334476470947},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907835","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":12,"referenced_works":["https://openalex.org/W106004340","https://openalex.org/W1544042259","https://openalex.org/W1578483761","https://openalex.org/W2071536667","https://openalex.org/W2097838739","https://openalex.org/W2135756602","https://openalex.org/W2289628916","https://openalex.org/W3083768238","https://openalex.org/W4285502049","https://openalex.org/W6634495510","https://openalex.org/W6668018106","https://openalex.org/W6941303729"],"related_works":["https://openalex.org/W2775620166","https://openalex.org/W2393623725","https://openalex.org/W2750562350","https://openalex.org/W3109885014","https://openalex.org/W2591856290","https://openalex.org/W2419336762","https://openalex.org/W2570175137","https://openalex.org/W2070657376","https://openalex.org/W2742616977","https://openalex.org/W3143899820"],"abstract_inverted_index":{"A":[0,69],"number":[1],"of":[2,4,28,40,61,88],"applications":[3],"wheeled":[5],"robots,":[6],"including":[7],"planetary":[8],"exploration":[9],"rovers":[10],"and":[11,79,96],"rescue":[12],"missions,":[13],"require":[14],"that":[15,107],"the":[16,24,38,41,45,59,74,109,114,126,131],"vehicle":[17,25,84],"operates":[18],"in":[19,31,53],"a":[20,101],"non-structured":[21],"environment.":[22],"Optimizing":[23],"mobility":[26,35,66],"is":[27,67,77],"key":[29],"importance":[30],"such":[32],"applications.":[33],"Reduced":[34],"can":[36,118],"limit":[37],"ability":[39],"robot":[42,110],"to":[43,81,112,120],"achieve":[44],"mission":[46],"goals,":[47],"or":[48],"even":[49],"render":[50],"it":[51],"immobile":[52],"extreme":[54],"cases.":[55],"In":[56],"this":[57,89],"paper,":[58],"effect":[60],"normal":[62,115],"contact":[63],"forces":[64],"on":[65,73],"reported.":[68],"performance":[70],"indicator":[71,90],"based":[72],"force":[75,116,123],"distribution":[76,117],"defined":[78],"used":[80],"compare":[82],"different":[83],"configurations.":[85],"The":[86],"validity":[87],"was":[91],"assessed":[92],"using":[93],"both":[94],"simulation":[95],"experimental":[97],"results":[98],"obtained":[99],"for":[100],"six-wheel":[102],"rover":[103],"prototype.":[104],"Results":[105],"suggest":[106],"modifying":[108],"configuration":[111],"alter":[113],"lead":[119],"increased":[121],"traction":[122],"available":[124],"at":[125],"wheel-terrain":[127],"interfaces,":[128],"thus":[129],"improving":[130],"mobility.":[132]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
