{"id":"https://openalex.org/W2410621027","doi":"https://doi.org/10.1109/icra.2016.7487776","title":"Hybrid driving-stepping locomotion with the wheeled-legged robot Momaro","display_name":"Hybrid driving-stepping locomotion with the wheeled-legged robot Momaro","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2410621027","doi":"https://doi.org/10.1109/icra.2016.7487776","mag":"2410621027"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5023789533","display_name":"Max Schwarz","orcid":"https://orcid.org/0000-0002-9942-6604"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Max Schwarz","raw_affiliation_strings":["Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057841164","display_name":"Tobias Rodehutskors","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tobias Rodehutskors","raw_affiliation_strings":["Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072774427","display_name":"Michael Schreiber","orcid":"https://orcid.org/0000-0003-2228-9258"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Schreiber","raw_affiliation_strings":["Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems, Computer Science Institute VI, Bonn max","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023789533"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5476,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.94862228,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5589","last_page":"5595"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9944999814033508,"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/terrain","display_name":"Terrain","score":0.7353622317314148},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.7107492685317993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7079693078994751},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6738828420639038},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6617384552955627},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.6593265533447266},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6309138536453247},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6277058720588684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5760983824729919},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47387075424194336},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4142049551010132},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3537922501564026},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3415801525115967},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.28241896629333496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24998506903648376},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08550471067428589}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7353622317314148},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.7107492685317993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7079693078994751},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6738828420639038},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6617384552955627},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.6593265533447266},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6309138536453247},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6277058720588684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5760983824729919},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47387075424194336},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4142049551010132},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3537922501564026},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3415801525115967},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28241896629333496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24998506903648376},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08550471067428589},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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.2016.7487776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W305287582","https://openalex.org/W1488777087","https://openalex.org/W1820821744","https://openalex.org/W1876900421","https://openalex.org/W1891197240","https://openalex.org/W1951089663","https://openalex.org/W1967775700","https://openalex.org/W1975230295","https://openalex.org/W1995443731","https://openalex.org/W1997846969","https://openalex.org/W2067681708","https://openalex.org/W2099870233","https://openalex.org/W2110307800","https://openalex.org/W2111904757","https://openalex.org/W2125303974","https://openalex.org/W2162683918","https://openalex.org/W2200085781","https://openalex.org/W2204626327","https://openalex.org/W2398639428","https://openalex.org/W4233210047","https://openalex.org/W6639090392","https://openalex.org/W6644135095","https://openalex.org/W6712094014"],"related_works":["https://openalex.org/W643038845","https://openalex.org/W2143761673","https://openalex.org/W2521924929","https://openalex.org/W2392978157","https://openalex.org/W2364780071","https://openalex.org/W4313245278","https://openalex.org/W3212815067","https://openalex.org/W2284468552","https://openalex.org/W655164699","https://openalex.org/W4312400952"],"abstract_inverted_index":{"Locomotion":[0],"in":[1,31,85],"uneven":[2],"terrain":[3],"is":[4],"important":[5],"for":[6,94],"a":[7,22,92,104],"wide":[8],"range":[9],"of":[10,27,33,63,69,82,97],"robotic":[11],"applications,":[12],"including":[13],"Search&Rescue":[14],"operations.":[15],"Our":[16],"mobile":[17],"manipulation":[18],"robot":[19,38],"Momaro":[20],"features":[21],"unique":[23],"locomotion":[24],"design":[25,65],"consisting":[26],"four":[28],"legs":[29],"ending":[30],"pairs":[32],"steerable":[34],"wheels,":[35],"allowing":[36],"the":[37,59,67,70],"to":[39,51],"omnidirectionally":[40],"drive":[41],"on":[42,66,103],"sufficiently":[43],"even":[44],"terrain,":[45],"step":[46],"over":[47],"obstacles,":[48],"and":[49,61,99],"also":[50,90],"overcome":[52],"height":[53],"differences":[54],"by":[55],"climbing.":[56],"We":[57,89],"demonstrate":[58],"feasibility":[60],"usefulness":[62],"this":[64],"example":[68],"DARPA":[71],"Robotics":[72],"Challenge,":[73],"where":[74],"our":[75],"team":[76],"NimbRo":[77],"Rescue":[78],"solved":[79],"seven":[80],"out":[81],"eight":[83],"tasks":[84],"only":[86],"34":[87],"minutes.":[88],"introduce":[91],"method":[93],"semi-autonomous":[95],"execution":[96],"weight-shifting":[98],"stepping":[100],"actions":[101],"based":[102],"2D":[105],"heightmap":[106],"generated":[107],"from":[108],"3D":[109],"laser":[110],"data.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":4}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}
