{"id":"https://openalex.org/W2967978114","doi":"https://doi.org/10.1109/icra.2019.8793686","title":"WheeLeR: Wheel-Leg Reconfigurable Mechanism with Passive Gears for Mobile Robot Applications","display_name":"WheeLeR: Wheel-Leg Reconfigurable Mechanism with Passive Gears for Mobile Robot Applications","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967978114","doi":"https://doi.org/10.1109/icra.2019.8793686","mag":"2967978114"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793686","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5024454564","display_name":"Chuanqi Zheng","orcid":"https://orcid.org/0000-0003-4668-3815"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuanqi Zheng","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028822675","display_name":"Kiju Lee","orcid":"https://orcid.org/0000-0002-8526-9142"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kiju Lee","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9292","last_page":"9298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9950000047683716,"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/mechanism","display_name":"Mechanism (biology)","score":0.7146944999694824},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6121144890785217},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5379799604415894},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4595576226711273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44871431589126587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42665284872055054},{"id":"https://openalex.org/keywords/worm-drive","display_name":"Worm drive","score":0.4189181327819824},{"id":"https://openalex.org/keywords/gear-train","display_name":"Gear train","score":0.4120388925075531},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.36885783076286316},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32663464546203613},{"id":"https://openalex.org/keywords/spiral-bevel-gear","display_name":"Spiral bevel gear","score":0.2042321264743805},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10966655611991882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09638211131095886}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7146944999694824},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6121144890785217},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5379799604415894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4595576226711273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44871431589126587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42665284872055054},{"id":"https://openalex.org/C21261922","wikidata":"https://www.wikidata.org/wiki/Q12529","display_name":"Worm drive","level":3,"score":0.4189181327819824},{"id":"https://openalex.org/C22486285","wikidata":"https://www.wikidata.org/wiki/Q2644088","display_name":"Gear train","level":3,"score":0.4120388925075531},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.36885783076286316},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32663464546203613},{"id":"https://openalex.org/C136905703","wikidata":"https://www.wikidata.org/wiki/Q1641343","display_name":"Spiral bevel gear","level":2,"score":0.2042321264743805},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10966655611991882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09638211131095886},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793686","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/W1989925348","https://openalex.org/W1991089195","https://openalex.org/W2064736763","https://openalex.org/W2095315722","https://openalex.org/W2199318894","https://openalex.org/W2199492784","https://openalex.org/W2576559432","https://openalex.org/W2583243136","https://openalex.org/W2611668264","https://openalex.org/W2618496359","https://openalex.org/W2755163439","https://openalex.org/W2767078008"],"related_works":["https://openalex.org/W2366966833","https://openalex.org/W2389271945","https://openalex.org/W2365906510","https://openalex.org/W2050654981","https://openalex.org/W3001035009","https://openalex.org/W1522763942","https://openalex.org/W4302316645","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2402417545"],"abstract_inverted_index":{"This":[0,130],"paper":[1],"presents":[2],"a":[3,13,22,47,73,145],"new":[4],"passive":[5],"wheel-leg":[6,177],"transformation":[7],"mechanism":[8,18,71],"and":[9,50,95,113,121,136,143,151,167,181],"its":[10,152],"embodiment":[11],"in":[12,81,186],"small":[14],"mobile":[15,146],"robot.":[16],"The":[17,85,106],"is":[19,132],"based":[20],"on":[21,125],"unique":[23],"geared":[24],"structure,":[25],"allowing":[26],"the":[27,58,65,70,82,90,99,114,118,122,126,161,173],"wheel":[28,35],"to":[29,40,61,138],"transform":[30],"between":[31,117],"two":[32],"modes,":[33],"i.e.,":[34],"or":[36,63],"leg,":[37],"potentially":[38],"adapting":[39],"varying":[41,165],"ground":[42,188],"conditions.":[43,189],"It":[44],"consists":[45],"of":[46,98,108,160],"central":[48,59,86,119],"gear":[49,60,87,115,120,168],"legs":[51,100,127],"with":[52,164,175],"partial":[53,123],"gears":[54,124],"that":[55],"rotate":[56],"around":[57],"open":[62],"close":[64],"legs.":[66],"When":[67],"fully":[68],"closed,":[69],"forms":[72],"seamless":[74],"circular":[75],"wheel;":[76],"when":[77],"opened,":[78],"it":[79],"operates":[80],"leg":[83],"mode.":[84],"actuated":[88],"by":[89],"driving":[91],"motor":[92],"generates":[93],"opening":[94],"closing":[96],"motions":[97],"without":[101],"using":[102,156],"an":[103],"additional":[104],"actuator.":[105],"number":[107],"legs,":[109],"their":[110],"physical":[111,141],"size,":[112],"ratio":[116],"are":[128],"adjustable.":[129],"design":[131],"mechanically":[133],"simple,":[134],"customizable,":[135],"easy":[137],"fabricate.":[139],"For":[140,170],"demonstration":[142],"experiments,":[144],"robotic":[147],"platform":[148],"was":[149,154,184],"built":[150],"terrainability":[153],"tested":[155,185],"five":[157],"different":[158,187],"sets":[159],"transformable":[162],"wheels":[163],"sizes":[166],"ratios.":[169],"each":[171],"design,":[172],"performance":[174],"successful":[176],"transformation,":[178],"obstacle":[179],"climbing,":[180],"locomotion":[182],"capabilities":[183]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}